ellensohn/cps_rmp220_support
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Merge pull request #2 from bjoernellens1/namespace

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Namespace
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bjoernellens1 2023-08-03 10:40:31 +02:00 committed by GitHub
commit feeaa74fa3
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6 changed files with 14 additions and 6 deletions
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3
launch/robot_controller.launch.py
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@ -10,7 +10,8 @@ def generate_launch_description():
package='segwayrmp', package='segwayrmp',
executable='SmartCar', executable='SmartCar',
name='SmartCar', name='SmartCar',
remappings=[('/cmd_vel','/cmd_vel_out')] remappings=[('/cmd_vel','/cmd_vel_out')],
namespace = "/rmp"
) )

5
launch/robot_joystick.launch.py
View File

@ -18,6 +18,7 @@ def generate_launch_description():
package='joy', package='joy',
executable='joy_node', executable='joy_node',
parameters=[joy_params, {'use_sim_time': use_sim_time}], parameters=[joy_params, {'use_sim_time': use_sim_time}],
namespace = "/rmp"
) )
teleop_node = Node( teleop_node = Node(
@ -25,7 +26,8 @@ def generate_launch_description():
executable='rmp220_teleop', executable='rmp220_teleop',
name='rmp220_teleop', name='rmp220_teleop',
parameters=[joy_params, {'use_sim_time': use_sim_time}], 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') twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
@ -34,6 +36,7 @@ def generate_launch_description():
executable="twist_mux", executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}], parameters=[twist_mux_params, {'use_sim_time': False}],
#remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')] #remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
namespace = "/rmp"
) )
return LaunchDescription([ return LaunchDescription([

3
launch/robot_lidar.launch.py
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@ -65,6 +65,7 @@ def generate_launch_description():
'serial_baudrate': serial_baudrate, 'serial_baudrate': serial_baudrate,
'inverted': inverted, 'inverted': inverted,
'angle_compensate': angle_compensate 'angle_compensate': angle_compensate
}] }],
namespace = "/rmp"
) )
]) ])

2
launch/robot_mapping.launch.py
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@ -46,6 +46,7 @@ def generate_launch_description():
"mapper_params_online_async.yaml" "mapper_params_online_async.yaml"
] ]
) )
namespace = "/rmp"
mapper_node = Node( mapper_node = Node(
package="slam_toolbox", package="slam_toolbox",
executable="async_slam_toolbox_node", executable="async_slam_toolbox_node",
@ -55,6 +56,7 @@ def generate_launch_description():
slam_params_file, slam_params_file,
{'use_sim_time': use_sim_time} {'use_sim_time': use_sim_time}
], ],
namespace = namespace
) )
return LaunchDescription([ return LaunchDescription([

2
launch/robot_navigation.launch.py
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@ -73,7 +73,7 @@ def generate_launch_description():
declare_namespace_cmd = DeclareLaunchArgument( declare_namespace_cmd = DeclareLaunchArgument(
'namespace', 'namespace',
default_value='', default_value='/rmp',
description='Top-level namespace') description='Top-level namespace')
declare_use_sim_time_cmd = DeclareLaunchArgument( declare_use_sim_time_cmd = DeclareLaunchArgument(

5
launch/rsp.launch.py
View File

@ -9,7 +9,7 @@ from launch_ros.actions import Node
import xacro import xacro
namespace = "/rmp"
def generate_launch_description(): def generate_launch_description():
# Check if we're told to use sim time # Check if we're told to use sim time
@ -27,7 +27,8 @@ def generate_launch_description():
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
output='screen', output='screen',
parameters=[params] parameters=[params],
namespace=namespace
) )