Add namespace support (#17)

* add namespace for simulation and teleop

* add namespace to gazebo entity

* change to prefix only in urdfs

* enable ns for joint_state_publisher

* add namespace support to mir_navigation + ns instructions to readme

* switched namespaces to remappings in urdfs

* resolved gazeboplugin namespace errors

* fixes for namespace support driver

* added navigation config namespace examples

* minor fixes for namespace launch and adaptions in rviz configs

* fixed tf namespace bug in driver

* split up of driver launch files

* fixed params filename + added namespace args in nav launch

* enabled qos settings for ros2 topics in driver

* removed unused rviz parameter

Author: relffok

README.md

@@ -450,6 +450,14 @@ Initialize Pose | Drifted pose | Refined pose
 ![](doc/img/initial_pose1.png) |![](doc/img/initial_pose2.png)|![](doc/img/initial_pose3.png)
 
 
+Using a namespace
+------------------------------------
+
+When using a namespace for your robot, add the ``--ros-args -p namespace:=my_namespace`` to the launch files.
+The driver, description and gazebo packages work out of the box. 
+However, to use the navigation stack the corresponding config.yaml files need to be adapted to match the renamed topic.
+
+The navigation ``cmd_vel`` topic is automatically remapped by adding the namespace in the ``navigation.py`` launch file.
 
 <!--
   

mir_description/launch/mir_display_launch.py

@@ -31,6 +31,8 @@ def generate_launch_description():
       Node(
         package='rviz2',
         executable='rviz2',
-        arguments=['-d', rviz_config_file]),
+        arguments=['-d', rviz_config_file],
+        parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}]
+      )
 
     ])

mir_description/launch/mir_launch.py

@@ -15,19 +15,28 @@ def generate_launch_description():
     mir_description_dir = get_package_share_directory('mir_description')
 
     def create_robot_description(context):
-      namespace = context.launch_configurations['namespace']
+      ns = context.launch_configurations['namespace']
+      if ns.startswith('/'):
+        ns = ns[1:]
+
+      prefix = context.launch_configurations['prefix']
       urdf_dir = os.path.join(mir_description_dir, 'urdf')
       xacro_file = os.path.join(urdf_dir, 'mir.urdf.xacro')
-      doc = xacro.process_file(xacro_file, mappings={'tf_prefix' : namespace})
+      doc = xacro.process_file(xacro_file, mappings={'tf_prefix' : ns})
       robot_desc = doc.toprettyxml(indent='  ')
       return [SetLaunchConfiguration('robot_description', robot_desc)]
 
     return LaunchDescription([
 
+      DeclareLaunchArgument(
+        'prefix',
+        default_value='',
+        description='Robot prefix'),
+
       DeclareLaunchArgument(
         'namespace',
         default_value='',
-        description='Robot namespace'),
+        description='Namespace to push all topics to'),
 
       DeclareLaunchArgument(
         'joint_state_publisher_enabled',
@@ -43,12 +52,13 @@ def create_robot_description(context):
         output='both',
         parameters=[{'use_sim_time': use_sim_time, 
                       'robot_description': LaunchConfiguration('robot_description')}],
-        namespace=LaunchConfiguration('namespace')),
+        namespace=LaunchConfiguration('namespace'),
+      ),
 
       Node(
         condition=IfCondition(LaunchConfiguration('joint_state_publisher_enabled')),
         package='joint_state_publisher',
-        executable='joint_state_publisher',
-        namespace=LaunchConfiguration('namespace'))
+        namespace=LaunchConfiguration('namespace'),
+        executable='joint_state_publisher')
 
     ])

mir_description/rviz/mir_visu_full.rviz

@@ -4,14 +4,15 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /Global Options1
         - /Status1
         - /Map1/Topic1
         - /RobotModel1/Description Topic1
         - /TF1/Frames1
         - /Path1/Topic1
         - /Path2/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 784
+    Tree Height: 820
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -32,7 +33,7 @@ Visualization Manager:
       Cell Size: 1
       Class: rviz_default_plugins/Grid
       Color: 160; 160; 164
-      Enabled: false
+      Enabled: true
       Line Style:
         Line Width: 0.029999999329447746
         Value: Lines
@@ -45,7 +46,7 @@ Visualization Manager:
       Plane: XY
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
-      Value: false
+      Value: true
     - Alpha: 0.699999988079071
       Class: rviz_default_plugins/Map
       Color Scheme: map
@@ -124,99 +125,6 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        back_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bl_caster_rotation_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bl_caster_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        br_caster_rotation_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        br_caster_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        fl_caster_rotation_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        fl_caster_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        fr_caster_rotation_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        fr_caster_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        imu_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        imu_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        left_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        surface:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        us_1_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        us_2_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        virtual_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -251,7 +159,7 @@ Visualization Manager:
         Durability Policy: Volatile
         Filter size: 10
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
@@ -404,7 +312,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -465,21 +373,21 @@ Visualization Manager:
       Pitch: 1.5597963333129883
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.005398864857852459
+      Yaw: 0.0003988649696111679
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1013
+  Height: 1043
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ea0000039bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000038b0000039b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ea000003bdfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000003bd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003bdfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000003bd000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000047b000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1680
-  X: 1920
+  Width: 1920
+  X: 0
   Y: 0

mir_description/urdf/include/imu.gazebo.urdf.xacro

@@ -81,7 +81,6 @@
           </ros>
         </plugin>
       </sensor>
-      -->
     </gazebo>
   </xacro:macro>
 </robot>

mir_description/urdf/include/mir_100.gazebo.xacro

@@ -2,12 +2,12 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <!-- See https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Diff-drive for ros2 information -->
-  <xacro:macro name="diff_controller_plugin_gazebo" params="prefix namespace left_wheel_joint right_wheel_joint wheel_separation wheel_radius">
+  <xacro:macro name="diff_controller_plugin_gazebo" params="prefix ns left_wheel_joint right_wheel_joint wheel_separation wheel_radius">
     <gazebo>
       <!-- Use gazebo_ros_joint_state_publisher instead of publishWheelJointState -->
       <plugin name="joint_states" filename="libgazebo_ros_joint_state_publisher.so">
         <ros>
-          <namespace>${namespace}</namespace>
+          <namespace>${ns}</namespace>
         </ros>
         <update_rate>1000.0</update_rate>
         <joint_name>${right_wheel_joint}</joint_name>
@@ -16,7 +16,8 @@
 
       <plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
         <ros>
-          <namespace>${prefix}</namespace>
+          <remapping>cmd_vel:=${prefix}cmd_vel</remapping>
+          <remapping>odom:=${prefix}odom</remapping>
         </ros>
 
         <legacy_mode>false</legacy_mode>
@@ -61,12 +62,11 @@
   </xacro:macro>
 
  <!-- See https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-P3D for ros2 information -->
-  <xacro:macro name="p3d_base_controller" params="namespace prefix">
+  <xacro:macro name="p3d_base_controller" params="prefix">
     <gazebo>
       <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
         <ros>
-          <namespace>${namespace}</namespace>
-          <remapping>odom:=base_pose_ground_truth</remapping>
+          <remapping>odom:=${prefix}base_pose_ground_truth</remapping>
         </ros>
         <always_on>true</always_on>
         <update_rate>50.0</update_rate>

mir_description/urdf/include/mir_100_v1.urdf.xacro

@@ -30,7 +30,7 @@
 
   <xacro:property name="imu_stdev" value="0.00017" />
 
-  <xacro:macro name="actuated_wheel" params="prefix namespace locationprefix locationright">
+  <xacro:macro name="actuated_wheel" params="prefix  locationprefix locationright">
     <joint name="${prefix}${locationprefix}_wheel_joint" type="continuous">
       <origin xyz="0.0 ${-mir_100_act_wheel_dy * locationright} ${mir_100_act_wheel_radius}" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
@@ -62,7 +62,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="caster_wheel" params="prefix locationprefix locationright wheel_base_dx">
+  <xacro:macro name="caster_wheel" params="prefix ns locationprefix locationright wheel_base_dx">
     <!-- caster hub -->
     <joint name="${prefix}${locationprefix}_caster_rotation_joint" type="continuous">
       <origin xyz="${wheel_base_dx} ${-mir_100_caster_wheel_base_dy * locationright} ${mir_100_caster_wheel_base_dz}" rpy="0 0 0" />
@@ -75,6 +75,7 @@
     <gazebo>
       <plugin name="${locationprefix}_caster_rotation_joint_states" filename="libgazebo_ros_joint_state_publisher.so">
         <ros>
+          <namespace>${ns}</namespace>
         </ros>
         <update_rate>200.0</update_rate>
         <joint_name>${prefix}${locationprefix}_caster_rotation_joint</joint_name>
@@ -123,7 +124,7 @@
     <gazebo>
       <plugin name="${locationprefix}_caster_wheel_joint_states" filename="libgazebo_ros_joint_state_publisher.so">
         <ros>
-          <namespace>${namespace}</namespace>
+          <namespace>${ns}</namespace>
         </ros>
         <update_rate>200.0</update_rate>
         <joint_name>${prefix}${locationprefix}_caster_wheel_joint</joint_name>
@@ -153,7 +154,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="mir_100" params="prefix namespace">
+  <xacro:macro name="mir_100" params="prefix ns">
     <link name="${prefix}base_footprint" />
 
     <joint name="${prefix}base_joint" type="fixed">
@@ -221,15 +222,15 @@
       <child link="${prefix}front_laser_link" />
       <origin xyz="0.4288 0.2358 0.1914" rpy="0.0 0.0 ${0.25 * pi}" />  <!-- from visually matching up the meshes of the MiR and the laser scanner -->
     </joint>
-    <xacro:sick_s300 prefix="${prefix}" namespace="${namespace}" link="front_laser_link" topic="f_scan" />
+    <xacro:sick_s300 prefix="${prefix}" link="front_laser_link" topic="f_scan" />
 
     <joint name="${prefix}base_link_to_back_laser_joint" type="fixed">
       <parent link="${prefix}base_link" />
       <child link="${prefix}back_laser_link" />
       <origin xyz="-0.3548 -0.2352 0.1914" rpy="0.0 0.0 ${-0.75 * pi}" />  <!-- from visually matching up the meshes of the MiR and the laser scanner -->
     </joint>
 
-    <xacro:sick_s300 prefix="${prefix}" namespace="${namespace}" link="back_laser_link" topic="b_scan" />
+    <xacro:sick_s300 prefix="${prefix}" link="back_laser_link" topic="b_scan" />
 
     <!-- Ultrasound sensors -->
     <joint name="${prefix}us_1_joint" type="fixed">   <!-- right ultrasound -->
@@ -249,12 +250,12 @@
     <link name="${prefix}us_2_frame" />
 
     <!-- wheels -->
-    <xacro:actuated_wheel prefix="${prefix}" namespace="${namespace}" locationprefix="left" locationright="-1"/>
-    <xacro:actuated_wheel prefix="${prefix}" namespace="${namespace}" locationprefix="right" locationright="1"/>
-    <xacro:caster_wheel prefix="${prefix}" locationprefix="fl" locationright="-1" wheel_base_dx="${mir_100_front_caster_wheel_base_dx}"/>
-    <xacro:caster_wheel prefix="${prefix}" locationprefix="fr" locationright="1" wheel_base_dx="${mir_100_front_caster_wheel_base_dx}"/>
-    <xacro:caster_wheel prefix="${prefix}" locationprefix="bl" locationright="-1" wheel_base_dx="${mir_100_back_caster_wheel_base_dx}"/>
-    <xacro:caster_wheel prefix="${prefix}" locationprefix="br" locationright="1" wheel_base_dx="${mir_100_back_caster_wheel_base_dx}"/>
+    <xacro:actuated_wheel prefix="${prefix}" locationprefix="left" locationright="-1"/>
+    <xacro:actuated_wheel prefix="${prefix}" locationprefix="right" locationright="1"/>
+    <xacro:caster_wheel prefix="${prefix}" ns="${ns}" locationprefix="fl" locationright="-1" wheel_base_dx="${mir_100_front_caster_wheel_base_dx}"/>
+    <xacro:caster_wheel prefix="${prefix}" ns="${ns}" locationprefix="fr" locationright="1" wheel_base_dx="${mir_100_front_caster_wheel_base_dx}"/>
+    <xacro:caster_wheel prefix="${prefix}" ns="${ns}" locationprefix="bl" locationright="-1" wheel_base_dx="${mir_100_back_caster_wheel_base_dx}"/>
+    <xacro:caster_wheel prefix="${prefix}" ns="${ns}" locationprefix="br" locationright="1" wheel_base_dx="${mir_100_back_caster_wheel_base_dx}"/>
 
     <joint name="${prefix}base_link_surface_joint" type="fixed">
       <origin xyz="${mir_100_act_wheel_dx} 0 0.352" rpy="0 0 0" />
@@ -270,6 +271,6 @@
     <!-- set the gazebo friction parameters for the wheels -->
     <xacro:set_all_wheel_frictions prefix="${prefix}"/>
 
-    <xacro:p3d_base_controller prefix="${prefix}" namespace="${namespace}"/>
+    <xacro:p3d_base_controller prefix="${prefix}"/>
   </xacro:macro>
 </robot>