[multirobot - Part2] Add namespacing to nav stack#1147
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SteveMacenski
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Side note there appears to be a rebasing problem, I'm seeing some other PRs stuff leaking into the github view.
@SteveMacenski Yes, I'm working on rebasing with master and it's taking longer than I anticipated. Some recent change in nav2 breaks my multi-robot example and I haven't found the source of the problem. Will let you know once I'm done so you can continue reviewing. |
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I also wouldn't spend too much time trying to fix just the rebase, what's an unideal commit or two between colleagues 😉 |
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@bpwilcox Prefixing the transforms was actually previously supported and deprecated. There is an ongoing discussion on a replacement: |
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Adding a node launcher that put a condition to applying the remappings. Add namespacing of launch files Update namespace of costmap and passing of correct namespace by planner & controller.
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It looks like this PR introduced an uncrustify failure that broke the build on master. Can you submit a PR to fix? The details are here: |
* Extending `rewritten_yaml` to also replace keys. * Adding a node launcher that puts a condition to applying the remappings. * Add namespacing of launch files. * Update namespace of costmap and passing of correct namespace by planner & controller.
- Nav2 bringup_launch.py already includes TF remappings internally - Remappings keep /tf and /tf_static global while frames remain namespaced - This is the correct ROS2 multi-robot architecture (not a workaround) - Issue: Nav2 nodes still subscribing to /robot0/tf instead of /tf - Need to investigate why Nav2's built-in remappings aren't working References: - ros/geometry2#32 - ros-navigation/navigation2#1147
Basic Info
Description of contribution in a few bullet points
Extends #1146 adding capability of namespacing the stack (nodes and topics).
rewritten_yamlto also replace keys