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I found a solution for setting the namespace! It has to be done when setting up the NodeConfiguration:
NodeConfiguration configuration = NodeConfiguration.createDefault();
configuration.setHost(host);
configuration.setMasterUri(uri);
NameResolver res = NameResolver.createFromString("/abc");
configuration.setParentResolver(res);
Nodes and topics created with this configuration will always have the prefix "/abc", e.g. "/abc/goal" which is exactly the behaviour i needed.
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