From 10bf420dc53bcb5fb891071104508f24eef0b91b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 3 Aug 2023 10:20:50 +0200
Subject: [PATCH 1/3] update: changing to namespace=/rmp

---
 launch/rsp.launch.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py
index c6b2afe..8553c18 100644
--- a/launch/rsp.launch.py
+++ b/launch/rsp.launch.py
@@ -9,7 +9,7 @@ from launch_ros.actions import Node
 
 import xacro
 
-
+namespace = "/rmp"
 def generate_launch_description():
 
     # Check if we're told to use sim time
@@ -27,7 +27,8 @@ def generate_launch_description():
         package='robot_state_publisher',
         executable='robot_state_publisher',
         output='screen',
-        parameters=[params]
+        parameters=[params],
+        namespace=namespace
     )
 
 

From f4a9b9857473974f77b4815b4ae7fd9e897cdf25 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 3 Aug 2023 10:32:43 +0200
Subject: [PATCH 2/3] update

---
 launch/robot_controller.launch.py | 3 ++-
 launch/robot_joystick.launch.py   | 1 +
 launch/robot_lidar.launch.py      | 3 ++-
 launch/robot_mapping.launch.py    | 2 ++
 launch/robot_navigation.launch.py | 2 +-
 5 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/launch/robot_controller.launch.py b/launch/robot_controller.launch.py
index 4c60117..73de7f7 100755
--- a/launch/robot_controller.launch.py
+++ b/launch/robot_controller.launch.py
@@ -10,7 +10,8 @@ def generate_launch_description():
             package='segwayrmp',
             executable='SmartCar',
             name='SmartCar',
-            remappings=[('/cmd_vel','/cmd_vel_out')]
+            remappings=[('/cmd_vel','/cmd_vel_out')],
+            namespace = "/rmp"
          )
 
 
diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index a60ea62..088676d 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -34,6 +34,7 @@ def generate_launch_description():
             executable="twist_mux",
             parameters=[twist_mux_params, {'use_sim_time': False}],
             #remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
+            namespace = "/rmp"
         )
     
     return LaunchDescription([
diff --git a/launch/robot_lidar.launch.py b/launch/robot_lidar.launch.py
index b3430c4..c5fea30 100644
--- a/launch/robot_lidar.launch.py
+++ b/launch/robot_lidar.launch.py
@@ -65,6 +65,7 @@ def generate_launch_description():
                 'serial_baudrate': serial_baudrate,
                 'inverted': inverted, 
                 'angle_compensate': angle_compensate
-            }]
+            }],
+            namespace = "/rmp"
         )
     ])
diff --git a/launch/robot_mapping.launch.py b/launch/robot_mapping.launch.py
index 768f6c5..0f5693e 100644
--- a/launch/robot_mapping.launch.py
+++ b/launch/robot_mapping.launch.py
@@ -46,6 +46,7 @@ def generate_launch_description():
                     "mapper_params_online_async.yaml"
                 ]
             )
+    namespace = "/rmp"
     mapper_node = Node(
         package="slam_toolbox",
         executable="async_slam_toolbox_node",
@@ -55,6 +56,7 @@ def generate_launch_description():
             slam_params_file,
             {'use_sim_time': use_sim_time}
         ],
+        namespace = namespace
     )
 
     return LaunchDescription([
diff --git a/launch/robot_navigation.launch.py b/launch/robot_navigation.launch.py
index 1339e48..63384f4 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='',
+        default_value='/rmp',
         description='Top-level namespace')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(

From 72ca69ee5341261edefa280ca33c9bb6f1ae4e4d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 3 Aug 2023 10:38:26 +0200
Subject: [PATCH 3/3] update

---
 launch/robot_joystick.launch.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index 088676d..1ab7b65 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -18,6 +18,7 @@ def generate_launch_description():
             package='joy',
             executable='joy_node',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
+            namespace = "/rmp"
          )
 
     teleop_node = Node(
@@ -25,7 +26,8 @@ def generate_launch_description():
             executable='rmp220_teleop',
             name='rmp220_teleop',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
-            remappings=[('/cmd_vel','/cmd_vel_joy')]
+            remappings=[('/cmd_vel','/cmd_vel_joy')],
+            namespace = "/rmp"
          )
     
     twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')