Use xacro file to plumb namespace into gz topics#10
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SteveMacenski merged 2 commits intoros-navigation:multirobotfrom Jun 19, 2024
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Use xacro file to plumb namespace into gz topics#10SteveMacenski merged 2 commits intoros-navigation:multirobotfrom
SteveMacenski merged 2 commits intoros-navigation:multirobotfrom
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
SteveMacenski
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Ah... that is not an expected result, thanks! So it looks like I figured out the bridge part, but didn't get the model part. I thought that there was a way to apply the node that spawned it namespace (or a launch flag) that would throw all the topics if not prepended with But this works just as well, if only slightly more manual. |
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* Attempts for multirobot namespacing in GZ * expanding gazebo names * Use xacro file to plumb namespace into gz topics (#10) * Use xacro file to plumb namespace into gz topics Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>
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It's not currently possible to set the namespace of gz-transport topics when a model is spawned. So the best option I could think of is to turn
gz_waffle.sdfinto a xacro file and pass in thenamespaceargument.This also updates the max_step_size to 3ms to improve performance.
cc @SteveMacenski