The current approach to combine e.g. mobile platform, robot and gripper together relies on different names for each joint of the combines robot model. This not only means that at most a single world joint may exist, but also that base_link is currently only used for robot arms, while the platforms base link is called chassis. This can confuse rviz, as well as require adapting configuration files to the non_standard names. Lastly this makes it impossible to use multiple robots, platforms or grippers concurrently.
As such it is a high priority issue to resolve this with joint prefixes or namespaces. I haven't researched this enough to be sure which approach is the standard ROS2 way of doing this.
Edit: This seems to give a good overview over what is required to make multiple robots work:
[x] Add prefix and namespace arguments to launch file
[x] Add prefix to robot description
[x] Change controller config files to include prefix
[x] Add namespaces to nodes
Joint State Broadcaster
Joint Trajectory Controller
Control Node
Robot State Publisher
Robot Controller Spawner
[x] Add two rebel example launch file, can also use the mock hardware by default to not require two robots
Once this is done:
[x] Change mobile platform base frame name
[x] Figure out how to best set a world coordinate system if required
The current approach to combine e.g. mobile platform, robot and gripper together relies on different names for each joint of the combines robot model. This not only means that at most a single world joint may exist, but also that base_link is currently only used for robot arms, while the platforms base link is called chassis. This can confuse rviz, as well as require adapting configuration files to the non_standard names. Lastly this makes it impossible to use multiple robots, platforms or grippers concurrently.
As such it is a high priority issue to resolve this with joint prefixes or namespaces. I haven't researched this enough to be sure which approach is the standard ROS2 way of doing this.
Edit: This seems to give a good overview over what is required to make multiple robots work:
Once this is done: