f1: namespace the car by entity so N of them can run together#769
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anishk85 wants to merge 1 commit into
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f1: namespace the car by entity so N of them can run together#769anishk85 wants to merge 1 commit into
anishk85 wants to merge 1 commit into
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javizqh
requested changes
Jul 10, 2026
| from launch_ros.parameter_descriptions import ParameterValue | ||
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| def _render_bridge(package_dir, namespace): |
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Absolutely not. There are much better ways of handling launching a ROS bridge.
For example in the dingo robot in this repo
| @@ -1,66 +1,86 @@ | |||
| import os | |||
| import re | |||
| Y = LaunchConfiguration("Y") | ||
| sensor = LaunchConfiguration("sensor") | ||
| mode = LaunchConfiguration("mode") | ||
| sensor = LaunchConfiguration("sensor").perform(context) |
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Perform must not be used directly
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| <xacro:f1_velocity topic="/F1ROS/cmd_vel"/> | ||
| <xacro:f1_odom topic="/F1ROS/odom" freq="50"/> | ||
| <xacro:f1_velocity topic="/$(arg namespace)/F1ROS/cmd_vel"/> |
| <visualize>1</visualize> | ||
| <update_rate>20</update_rate> | ||
| <topic>f1/laser/scan</topic> | ||
| <topic>/$(arg namespace)/f1/laser/scan</topic> |
| <xacro:arg name="ackermann" default="false"/> | ||
| <xacro:arg name="camera" default="true"/> | ||
| <xacro:arg name="laser" default="false"/> | ||
| <!-- entity name = ROS/gz namespace, so N cars don't share topics --> |
javizqh
requested changes
Jul 10, 2026
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You do not pass the namespace to the macro
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Closed in favor of a cleaner and working approach #770 |
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f1: namespace the car by entity so N of them can run together
lets the same robot be spawned more than once in one simulation. pairs with the
multi-robot support in RoboticsApplicationManager and RoboticsAcademy.
what changed
the launch file takes a new
entityargument (defaultf1, so a single-carlaunch behaves exactly as before) and uses it as the ros/gazebo namespace:
namespacemapping, so the model's plugintopics become
/<entity>/F1ROS/cmd_vel,/<entity>/F1ROS/odom, the camera andthe laser scan
fixed gz topics
robot_state_publisher, the gz bridge and the image bridge all run inside thenamespace, and the car spawns as
-name <entity>from/<entity>/robot_descriptionso two cars come up as
/f1_0/...and/f1_1/...and never share a topic or anode name. RAM passes the entity it generated for each robot.