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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
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Nav2 namespaces and prefixes #55

Open cpr-fer opened 1 year ago

cpr-fer commented 1 year ago

Followup of #51

For supporting multiple robots/platforms it is required to add support for these settings. For this some work has to be done first to the controller configuration and launchfiles to support generic namespaces/prefixes. After that the same has to be done for the Nav2 config file. For this RewriteYAML could come in handy, but would requure nav2_commons for everything platform related. I think that this would be acceptable as most people will only use the platform in combination with it anyways.

cpr-fer commented 1 year ago

For future reference, these are the settings required to launch the platform with a namespace

ros2 launch irc_ros_bringup cpr_platform.launch.py namespace:=/platform_1 prefix:=platform_1_ platform_controller_config:=src/iRC_ROS/irc_ros_bringup/config/controller_cpr_platform_medium_namespace_1.yaml