Make tb4 sim work with namespaced simulations (#15)

* Make tb4 sim work with namespaced simulations

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove remaining use_simulator usages

Signed-off-by: Luca Della Vedova <[email protected]>

* Cleanup

Signed-off-by: Luca Della Vedova <[email protected]>

* Add back `use_simulator` parameter

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix namespace

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove all commented code

Signed-off-by: Luca Della Vedova <[email protected]>

---------

Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off-by: Luca Della Vedova <[email protected]>

Author: luca-della-vedova

nav2_minimal_tb4_description/CMakeLists.txt

@@ -6,6 +6,8 @@ find_package(ament_cmake REQUIRED)
 find_package(urdf REQUIRED)
 find_package(xacro REQUIRED)
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/tb4_description.dsv.in")
+
 install(
   DIRECTORY launch meshes urdf rviz
   DESTINATION share/${PROJECT_NAME}

nav2_minimal_tb4_description/hooks/tb4_description.dsv.in

@@ -0,0 +1 @@
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/

nav2_minimal_tb4_sim/configs/tb4_bridge.yaml

@@ -1,5 +1,5 @@
 # replace clock_bridge
-- ros_topic_name: "clock"
+- ros_topic_name: "/clock"
   gz_topic_name: "/clock"
   ros_type_name: "rosgraph_msgs/msg/Clock"
   gz_type_name: "gz.msgs.Clock"

nav2_minimal_tb4_sim/launch/spawn_tb4.launch.py

@@ -14,12 +14,10 @@
 # limitations under the License.
 
 import os
-from pathlib import Path
 
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import AppendEnvironmentVariable
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration
@@ -29,7 +27,6 @@
 
 def generate_launch_description():
     sim_dir = get_package_share_directory('nav2_minimal_tb4_sim')
-    desc_dir = get_package_share_directory('nav2_minimal_tb4_description')
 
     use_sim_time = LaunchConfiguration('use_sim_time')
     namespace = LaunchConfiguration('namespace')
@@ -65,15 +62,11 @@ def generate_launch_description():
         default_value='turtlebot4',
         description='name of the robot')
 
-    # declare_robot_sdf_cmd = DeclareLaunchArgument(
-    #     'robot_sdf',
-    #     default_value=os.path.join(desc_dir, 'urdf', 'standard', 'turtlebot4.urdf.xacro'),
-    #     description='Full path to robot sdf file to spawn the robot in gazebo')
-
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
         name='bridge_ros_gz',
+        namespace=namespace,
         parameters=[
             {
                 'config_file': os.path.join(
@@ -89,6 +82,7 @@ def generate_launch_description():
         package='ros_gz_image',
         executable='image_bridge',
         name='bridge_gz_ros_camera_image',
+        namespace=namespace,
         output='screen',
         parameters=[{
             'use_sim_time': use_sim_time,
@@ -99,6 +93,7 @@ def generate_launch_description():
         package='ros_gz_image',
         executable='image_bridge',
         name='bridge_gz_ros_camera_depth',
+        namespace=namespace,
         output='screen',
         parameters=[{
             'use_sim_time': use_sim_time,
@@ -109,31 +104,23 @@ def generate_launch_description():
         condition=IfCondition(use_simulator),
         package='ros_gz_sim',
         executable='create',
+        namespace=namespace,
         output='screen',
         arguments=[
-            '-entity', robot_name,
+            '-name', robot_name,
             '-topic', 'robot_description',
-            # '-file', Command(['xacro', ' ', robot_sdf]), # TODO SDF file is unhappy, not sure why
-            '-robot_namespace', namespace,
             '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
             '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']],
         parameters=[{'use_sim_time': use_sim_time}]
     )
 
-    set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
-            str(Path(os.path.join(desc_dir)).parent.resolve()))
-
     # Create the launch description and populate
     ld = LaunchDescription()
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_robot_name_cmd)
-    # ld.add_action(declare_robot_sdf_cmd)
     ld.add_action(declare_use_simulator_cmd)
     ld.add_action(declare_use_sim_time_cmd)
 
-    ld.add_action(set_env_vars_resources)
-
     ld.add_action(bridge)
     ld.add_action(camera_bridge_image)
     ld.add_action(camera_bridge_depth)