Bug with multiple IMU sensor with the same name

[rafal-gorecki]

Hello,

I encountered a problem with spawning an IMU with the same name in simulation (on two robots with different namespace). When two IMUs have the same name in GZ, imu_manager reads data from the wrong sensor. This caused there are two IMU instances in the world, but imu_broadcaster subscribes the data from the first sensor.

This is well demonstrated in the video, where the topic imu/data_raw is the data cast from the simulation (gz_bridge), and imu/data is the data from the imu_broadcaster.

Screencast.from.10-22-2024.01.03.14.PM.webm

I suggested solving this using namespaces, but the topic died. ros-controls/ros2_controllers#1104
Now I have in mind to approach the problem from the other side, but I have no idea how to do it, because the gz code is much less known to me.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[christophfroehlich]

Is this still relevant after ros-controls/ros2_controllers#1420 got merged?
If yes, could you provide a minimum working example to reproduce your issue?

[rafal-gorecki]

I'll close this task. I solved it using nav2_common.ReplaceString and added <namespace>/ in the imu_broadcaster config which is replaced with the one for the specific robot namespace.