From c759d6baa78a72d153f9381eb4d243ca1889bb50 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 8 Aug 2023 11:01:49 +0200
Subject: [PATCH] commented out namespace --> test with domain id

---
 launch/robot_controller.launch.py | 2 +-
 launch/robot_joystick.launch.py   | 4 ++--
 launch/robot_lidar.launch.py      | 2 +-
 launch/robot_mapping.launch.py    | 2 +-
 launch/robot_navigation.launch.py | 2 +-
 launch/rsp.launch.py              | 2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/launch/robot_controller.launch.py b/launch/robot_controller.launch.py
index 658259b..0338315 100755
--- a/launch/robot_controller.launch.py
+++ b/launch/robot_controller.launch.py
@@ -11,7 +11,7 @@ def generate_launch_description():
             executable='SmartCar',
             name='SmartCar',
             remappings=[('cmd_vel','cmd_vel_out'), ('/odom','odom'), ('/imu','imu'), ('/bms_fb','bms_fb'), ('/joint_states','joint_states'), ('/tf','tf'), ('/tf_static','tf_static')],
-            namespace = "/rmp"
+            #namespace = "/rmp"
          )
 
 
diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index 8e26349..7438bdf 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -48,7 +48,7 @@ def generate_launch_description():
             package='joy',
             executable='joy_node',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
-            namespace = namespace
+            #namespace = namespace
          )
     
     teleop_node = Node(
@@ -57,7 +57,7 @@ def generate_launch_description():
             name='teleop_twist_joy',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
             remappings=[('cmd_vel', 'cmd_vel_out')],
-            namespace = namespace
+            #namespace = namespace
          )
 
     
diff --git a/launch/robot_lidar.launch.py b/launch/robot_lidar.launch.py
index c5fea30..e981c97 100644
--- a/launch/robot_lidar.launch.py
+++ b/launch/robot_lidar.launch.py
@@ -66,6 +66,6 @@ def generate_launch_description():
                 'inverted': inverted, 
                 'angle_compensate': angle_compensate
             }],
-            namespace = "/rmp"
+            #namespace = "/rmp"
         )
     ])
diff --git a/launch/robot_mapping.launch.py b/launch/robot_mapping.launch.py
index 53fbe1a..7ebb9c8 100644
--- a/launch/robot_mapping.launch.py
+++ b/launch/robot_mapping.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
             slam_params_file,
             {'use_sim_time': use_sim_time}
         ],
-        namespace = namespace,
+        #namespace = namespace,
         remappings=[('/scan', 'scan'), ('/map', 'map')],
     )
 
diff --git a/launch/robot_navigation.launch.py b/launch/robot_navigation.launch.py
index 9874d03..1339e48 100644
--- a/launch/robot_navigation.launch.py
+++ b/launch/robot_navigation.launch.py
@@ -73,7 +73,7 @@ def generate_launch_description():
 
     declare_namespace_cmd = DeclareLaunchArgument(
         'namespace',
-        default_value='r',
+        default_value='',
         description='Top-level namespace')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py
index 8553c18..5f95246 100644
--- a/launch/rsp.launch.py
+++ b/launch/rsp.launch.py
@@ -28,7 +28,7 @@ def generate_launch_description():
         executable='robot_state_publisher',
         output='screen',
         parameters=[params],
-        namespace=namespace
+        #namespace=namespace
     )