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blackcoffeerobotics / bcr_bot

A Gazebo-ROS AMR robot with differential drive, depth camera, IMU and 2D LiDAR
https://blackcoffeerobotics.com/blog/migration-from-gazebo-classic-to-ignition-with-ros-2
Apache License 2.0
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Namespace Argument in ROS2 + Ignition #6

Open D-1shu opened 1 year ago

D-1shu commented 1 year ago

Issue with Namespace Argument in ROS2 + Ignition

Description

Currently, the launch file in gz.launch.py does not include a namespace argument. Additionally, in the model spawn, the namespace is not utilized as part of the naming convention for the spawned robot, unlike the ros2 classic and ros1 . Furthermore, the joint states and other topics are hardcoded to "bcr_bot,"

Steps to Reproduce

  1. Execute the current version of gz.launch.py without the namespace argument.
  2. Observe the robot spawn behavior and the naming convention used.
  3. Monitor the topics and verify that they are hardcoded to "bcr_bot".

Expected Behavior

After implementing the proposed changes:

  1. The gz.launch.py launch file should include a namespace argument.
  2. The robot spawned using the model spawn should incorporate the namespace argument in its name.
  3. Joint states and other topics should be properly mapped to the provided namespace.