add remappings to robot state publisher for ur5e example (#841)

* add remappings to robot state publisher for ur5e example

follow up to f3045ad

* remove get_namespace() from service client topic, used to set
 a parameter

also, include universal_robot_driver to the launch_description list before moveit, else setting robot_description fails randomly

* Update webots_ros2_universal_robot/launch/robot_launch/robot_moveit_nodes_launch.py

Co-authored-by: Olivier Michel <[email protected]>

---------

Co-authored-by: Olivier Michel <[email protected]>

Author: skpawar1305

webots_ros2_driver/src/WebotsNode.cpp

@@ -306,7 +306,7 @@ namespace webots_ros2_driver {
   }
 
   void WebotsNode::setAnotherNodeParameter(std::string anotherNodeName, std::string parameterName, std::string parameterValue) {
-    mClient = create_client<rcl_interfaces::srv::SetParameters>(get_namespace() + anotherNodeName + "/set_parameters");
+    mClient = create_client<rcl_interfaces::srv::SetParameters>(anotherNodeName + "/set_parameters");
     mClient->wait_for_service(std::chrono::seconds(1));
     rcl_interfaces::srv::SetParameters::Request::SharedPtr request =
       std::make_shared<rcl_interfaces::srv::SetParameters::Request>();

webots_ros2_universal_robot/launch/robot_launch/robot_moveit_nodes_launch.py

@@ -41,6 +41,13 @@ def load_yaml(filename):
 
     # Check if moveit is installed
     if 'moveit' in get_packages_with_prefixes():
+        # Webots simulation with robot
+        launch_description_nodes.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(os.path.join(package_dir, 'launch', 'robot_nodes_launch.py'))
+            )
+        )
+
         # Configuration
         description = {'robot_description': load_file('ur5e_with_gripper.urdf')}
         description_semantic = {'robot_description_semantic': load_file('moveit_ur5e.srdf')}
@@ -88,13 +95,6 @@ def load_yaml(filename):
                 remappings=[('/joint_states', '/ur5e/joint_states')]
             )
         )
-
-        # Webots simulation with robot
-        launch_description_nodes.append(
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(os.path.join(package_dir, 'launch', 'robot_nodes_launch.py'))
-            )
-        )
     else:
         launch_description_nodes.append(LogInfo(msg='"moveit" package is not installed, \
                                                 please install it in order to run this demo.'))

webots_ros2_universal_robot/launch/robot_launch/robot_nodes_launch.py

@@ -47,13 +47,13 @@ def generate_launch_description():
     # When having multiple robot it is mandatory to specify the robot name.
     universal_robot_driver = WebotsController(
         robot_name='UR5e',
+        namespace='ur5e',
         parameters=[
             {'robot_description': robot_description_path},
             {'use_sim_time': True},
             {'set_robot_state_publisher': True},
             ros2_control_params
         ],
-        namespace='ur5e'
     )
 
     # Other ROS 2 nodes
@@ -77,6 +77,7 @@ def generate_launch_description():
 
     robot_state_publisher = Node(
         package='robot_state_publisher',
+        namespace='ur5e',
         executable='robot_state_publisher',
         output='screen',
         parameters=[{