Namespace for robots

CustomRobots/Turtlebot2/launch/turtlebot2.launch.py

@@ -18,14 +18,16 @@ def launch_setup(context):
     P = LaunchConfiguration("P")
     Y = LaunchConfiguration("Y")
     gz_sensor = LaunchConfiguration("sensor")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
     nodes_to_start = []
 
     sensor = gz_sensor.perform(context)
-
-    bridge_yaml = os.path.join(package_dir, "params", f"turtlebot2_{sensor}.yaml")
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -42,6 +44,7 @@ def launch_setup(context):
         mappings={
             "camera": "true" if sensor == "camera" else "false",
             "stereo": "true" if sensor == "stereo" else "false",
+            "namespace": namespace,
         },
     ).toxml()
 
@@ -51,18 +54,20 @@ def launch_setup(context):
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
+        namespace=gz_namespace,
         output="screen",
         parameters=[robot_description, {"use_sim_time": True}],
     )
 
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            "/robot_description",
+            f"/{namespace}/robot_description",
             "-name",
-            "turtlebot2",
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -84,7 +89,12 @@ def launch_setup(context):
     gz_ros2_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+            f"/{namespace}/laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+        ],
         output="screen",
     )
 
@@ -94,27 +104,25 @@ def launch_setup(context):
 
     # Sensor deppending on sensor arguments
     if sensor == "stereo":
-        gz_ros2_image_left_bridge = Node(
+        gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/cam_turtlebot_left/image_raw"],
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/camera_left/image_raw",
+                f"/{namespace}/camera_right/image_raw",
+            ],
             output="screen",
         )
 
-        gz_ros2_image_right_bridge = Node(
-            package="ros_gz_image",
-            executable="image_bridge",
-            arguments=["/cam_turtlebot_right/image_raw"],
-            output="screen",
-        )
+        nodes_to_start.append(gz_ros2_image_bridge)
 
-        nodes_to_start.append(gz_ros2_image_left_bridge)
-        nodes_to_start.append(gz_ros2_image_right_bridge)
-    elif sensor == "":
+    elif sensor == "camera":
         gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/depth_camera/image_raw"],
+            namespace=gz_namespace,
+            arguments=[f"/{namespace}/camera/image_raw"],
             output="screen",
         )
 
@@ -124,19 +132,18 @@ def launch_setup(context):
 
 
 def generate_launch_description():
-    declared_arguments = []
-
-    # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="stereo"))
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="stereo"),
+        DeclareLaunchArgument("namespace", default_value="turtlebot2"),
+        DeclareLaunchArgument("entity", default_value="turtlebot2"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]

CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2.urdf.xacro

@@ -4,21 +4,23 @@
 
   <xacro:arg name="camera" default="true"/>
   <xacro:arg name="stereo" default="false"/>
+  <xacro:arg name="namespace" default="turtlebot2"/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <xacro:include filename="$(find custom_robots)/model/turtlebot2/turtlebot2_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/model/turtlebot2/turtlebot2_common.urdf.xacro"/>
 
-  <xacro:turtlebot2/>
+  <xacro:turtlebot2 namespace="${namespace}"/>
 
   <xacro:if value="$(arg camera)">
-    <xacro:camera xyz="-0.118 0 0.2812" rpy="0 0 0" name="depth_camera" parent="base_link"/>
-    <xacro:laser xyz="0 0 0.44" rpy="0 0 0" name="laser" parent="base_link" topic="scan"/>
+    <xacro:camera xyz="-0.118 0 0.2812" rpy="0 0 0" name="camera" parent="base_link" namespace="${namespace}"/>
+    <xacro:laser xyz="0 0 0.44" rpy="0 0 0" name="laser" parent="base_link" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg stereo)">
     <xacro:fake_camera xyz="-0.118 0 0.23" rpy="0 0 0" name="depth_camera" parent="base_link"/>
-    <xacro:stereo_camera xyz="-0.05 0.076 0.2424" rpy="0 0 0" name="cam_turtlebot_left" parent="base_link"/>
-    <xacro:stereo_camera xyz="-0.05 -0.076 0.2424" rpy="0 0 0" name="cam_turtlebot_right" parent="base_link"/>
+    <xacro:stereo_camera xyz="-0.05 0.076 0.2424" rpy="0 0 0" name="camera_left" parent="base_link" namespace="${namespace}"/>
+    <xacro:stereo_camera xyz="-0.05 -0.076 0.2424" rpy="0 0 0" name="camera_right" parent="base_link" namespace="${namespace}"/>
   </xacro:if>
 
 </robot>

CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_common.urdf.xacro

@@ -60,7 +60,7 @@
   </xacro:macro>
 
   <!-- Kobuki -->
-  <xacro:macro name="turtlebot2">
+  <xacro:macro name="turtlebot2" params="namespace">
     <link name="base_footprint"/>
     <!--
        Base link is set at the bottom of the base mould.
@@ -275,9 +275,9 @@
     </link>
 
     <!-- Kobuki Gazebo simulation details -->
-    <xacro:odom topic="odom" freq="20"/>
-    <xacro:velocity topic="cmd_vel"/>
-    <xacro:imu topic="imu"/>
+    <xacro:odom namespace="${namespace}" freq="20"/>
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:imu namespace="${namespace}"/>
     <xacro:extra/>
 
   </xacro:macro>

CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_gz.urdf.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="vacuum_cleaner_gz"
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="camera" params="xyz rpy name parent">
+  <xacro:macro name="camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link">
       <visual>
@@ -24,9 +24,9 @@
         <always_on>true</always_on>
         <visualize>false</visualize>
         <update_rate>5</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="camera">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.0472</horizontal_fov>
           <image>
             <width>640</width>
@@ -61,7 +61,7 @@
     </joint>
   </xacro:macro>
 
-  <xacro:macro name="stereo_camera" params="xyz rpy name parent">
+  <xacro:macro name="stereo_camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link">
     </link>
@@ -78,9 +78,9 @@
         <always_on>true</always_on>
         <visualize>false</visualize>
         <update_rate>5</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="camera">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.570000</horizontal_fov>
           <image>
             <width>640</width>
@@ -101,7 +101,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="laser" params="xyz rpy name parent topic">
+  <xacro:macro name="laser" params="xyz rpy name parent namespace">
     <link name="${name}_link">
       <visual>
         <geometry>
@@ -121,7 +121,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>5</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/${name}/scan</topic>
         <gz_frame_id>laser</gz_frame_id>
         <lidar>
           <scan>
@@ -142,20 +142,20 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="bumper" params="topic name">
+  <xacro:macro name="bumper" params="topic name namespace">
     <gz>
       <sensor name='${name}' type='contact'>
         <always_on>true</always_on>
         <update_rate>20</update_rate>
         <contact>
           <collision>${name}_collision</collision>
-          <topic>${topic}</topic>
+          <topic>/${namespace}/${topic}</topic>
         </contact>
       </sensor>
     </gz>
   </xacro:macro>
 
-  <xacro:macro name="imu" params="topic">
+  <xacro:macro name="imu" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
       </plugin>
@@ -164,7 +164,7 @@
         <sensor name='imu' type='imu'>
           <always_on>1</always_on>
           <update_rate>50</update_rate>
-          <topic>${topic}</topic>
+          <topic>/${namespace}/imu</topic>
           <imu>
             <noise>
               <type>gaussian</type>
@@ -225,26 +225,26 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="velocity" params="topic">
+  <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
         <publish_tf>1</publish_tf>
         <left_joint>wheel_left_joint</left_joint>
         <right_joint>wheel_right_joint</right_joint>
         <wheel_separation>.230</wheel_separation>
         <wheel_diameter>0.070</wheel_diameter>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/cmd_vel</topic>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq">
+  <xacro:macro name="odom" params="namespace freq">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <odom_frame>odom</odom_frame>
         <robot_base_frame>base_footprint</robot_base_frame>
         <odom_publish_frequency>${freq}</odom_publish_frequency>
-        <odom_topic>${topic}</odom_topic>
+        <odom_topic>/${namespace}/odom</odom_topic>
         <dimensions>3</dimensions>
       </plugin>
     </gazebo>

CustomRobots/Turtlebot2/params/turtlebot2_camera.yaml

@@ -32,18 +32,6 @@
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/depth_camera/depth_image"
-  gz_topic_name: "/depth_camera/depth_image"
-  ros_type_name: "sensor_msgs/msg/Image"
-  gz_type_name: "gz.msgs.Image"
-  direction: GZ_TO_ROS
-
-- ros_topic_name: "/depth_camera/points"
-  gz_topic_name: "/depth_camera/points"
-  ros_type_name: "sensor_msgs/msg/PointCloud2"
-  gz_type_name: "gz.msgs.PointCloudPacked"
-  direction: GZ_TO_ROS
-
 - ros_topic_name: "/person/cmd_vel"
   gz_topic_name: "/person/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"