Added namespace to mappings

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Dec 5, 2023 · 967df74 · 967df74
1 parent 7eab9e8
commit 967df74
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Showing 4 changed files with 26 additions and 15 deletions.
diff --git a/rosbot_bringup/launch/bringup.launch.py b/rosbot_bringup/launch/bringup.launch.py
@@ -94,9 +94,9 @@ def generate_launch_description():
     robot_localization_node = Node(
         package="robot_localization",
         executable="ekf_node",
-        name="ekf_filter_node",
         output="screen",
         parameters=[ekf_config],
+        arguments=["--ros-args --log-level debug"],
         remappings=[
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),

diff --git a/rosbot_gazebo/config/gz_remappings.yaml b/rosbot_gazebo/config/gz_remappings.yaml
@@ -1,39 +1,39 @@
-- topic_name: "/scan"
+- topic_name: "<robot_namespace>/scan"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
 
-- topic_name: "/camera/camera_info"
+- topic_name: "<robot_namespace>/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "ignition.msgs.CameraInfo"
 
-- topic_name: "/camera/depth_image"
+- topic_name: "<robot_namespace>/camera/depth_image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "ignition.msgs.Image"
 
-- topic_name: "/camera/image"
+- topic_name: "<robot_namespace>/camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "ignition.msgs.Image"
 
-- topic_name: "/camera/points"
+- topic_name: "<robot_namespace>/camera/points"
   ros_type_name: "sensor_msgs/msg/PointCloud2"
   gz_type_name: "ignition.msgs.PointCloudPacked"
 
-- topic_name: "/clock"
+- topic_name: "<robot_namespace>/clock"
   ros_type_name: "rosgraph_msgs/msg/Clock"
   gz_type_name: "ignition.msgs.Clock"
 
-- topic_name: "/range/fl"
+- topic_name: "<robot_namespace>/range/fl"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
 
-- topic_name: "/range/fr"
+- topic_name: "<robot_namespace>/range/fr"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
 
-- topic_name: "/range/rl"
+- topic_name: "<robot_namespace>/range/rl"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
 
-- topic_name: "/range/rr"
+- topic_name: "<robot_namespace>/range/rr"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
diff --git a/rosbot_gazebo/launch/spawn.launch.py b/rosbot_gazebo/launch/spawn.launch.py
@@ -19,7 +19,7 @@
 )
 from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, PythonExpression
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-
+from nav2_common.launch import ReplaceString
 from launch_ros.actions import Node, SetParameter
 
 from ament_index_python.packages import get_package_share_directory
@@ -33,6 +33,10 @@ def generate_launch_description():
         description="Namespace for all topics and tfs",
     )
 
+    namespace_ext = PythonExpression(
+        ["''", " if '", namespace, "' == '' ", "else ", "'/", namespace, "'"]
+    )
+
     mecanum = LaunchConfiguration("mecanum")
     declare_mecanum_arg = DeclareLaunchArgument(
         "mecanum",
@@ -64,6 +68,11 @@ def generate_launch_description():
         [get_package_share_directory("rosbot_gazebo"), "config", "gz_remappings.yaml"]
     )
 
+    namespaced_gz_remappings_file = ReplaceString(
+        source_file=gz_remappings_file,
+        replacements={"<robot_namespace>": (namespace_ext)},
+    )
+
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
@@ -95,7 +104,7 @@ def generate_launch_description():
         package="ros_gz_bridge",
         executable="parameter_bridge",
         name="ros_gz_bridge",
-        parameters=[{"config_file": gz_remappings_file}],
+        parameters=[{"config_file": namespaced_gz_remappings_file}],
         remappings=[
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
@@ -138,9 +147,10 @@ def generate_launch_description():
             "1.57",
             "-1.57",
             "0.0",
-            # Here should be namespace
             "camera_depth_optical_frame",
-            "rosbot/base_link/camera_orbbec_astra_camera",
+            LaunchConfiguration(
+                "gazebo_frame", default=[robot_name, "/base_link/camera_orbbec_astra_camera"]
+            ),
         ],
         remappings=[
             ("/tf", "tf"),

diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml
@@ -26,6 +26,7 @@
     for details refer to the ros_gz_sim package -->
   <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>ign_ros2_control</exec_depend>
+  <exec_depend>nav2_common</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch</test_depend>