Issues to spawn a second robot

[Mechaick]

Please provide the following information:

• OS: Ubuntu 22.04
• ROS 2 Distro: Humble

• Built from source or installed: Installed followin this : https://docs.clearpathrobotics.com/docs/ros/tutorials/simulator/install

  Expected behaviour I am launching a simulation using

ros2 launch clearpath_gz simulation.launch.py rviz:=true setup_path:=$HOME/clearpath/cp1

and spawning an additional robot using

ros2 launch clearpath_gz robot_spawn.launch.py setup_path:=$HOME/clearpath/cp5

And I should expect a robot completely working.

Actual behaviour I cannot drive the second robot.

The simulation give the following error messages: [ruby $(which ign) gazebo-1] [ERROR] [1704465289.453031469] [a200_0005.controller_manager]: The 'type' param was not defined for 'joint_state_broadcaster'. [ruby $(which ign) gazebo-1] [ERROR] [1704465289.533124046] [a200_0005.controller_manager]: The 'type' param was not defined for 'platform_velocity_controller'.

And the spawner:

[spawner-5] [FATAL] [1704465289.454854305] [a200_0005.spawner_joint_state_broadcaster]: Failed loading controller joint_state_broadcaster
[spawner-6] [FATAL] [1704465289.536445595] [a200_0005.spawner_platform_velocity_controller]: Failed loading controller platform_velocity_controller
[ERROR] [spawner-5]: process has died [pid 138988, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager-timeout 60 joint_state_broadcaster --ros-args -r __ns:=/a200_0005'].
[ERROR] [spawner-6]: process has died [pid 138990, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager-timeout 60 platform_velocity_controller --ros-args -r `__ns:=/a200_0005'].

To Reproduce Provide the steps to reproduce:

1. Follow the installation tutorials
2. Create a folder for each robot in -/clearpath/ (cp1 and cp5)
3. Copy the example robot.yaml to each folder and change the serial number, host : self, and namespace to a200-0001 or 5.

   
   serial_number: a200-0001
   version: 0
   system:
   username: administrator
   hosts:
   self: cpr-a200-0001
   platform:
     cpr-a200-0000: 192.168.131.1
   onboard: {}
   remote: {}
   ros2:
   namespace: a200_0001
   domain_id: 0
   rmw_implementation: rmw_fastrtps_cpp
   workspaces: []
   platform:
   controller: ps4
   battery:
   model: ES20_12C
   configuration: S2P1
   attachments:
   - name: front_bumper
     type: bumper
     parent: front_bumper_mount
   - name: rear_bumper
     type: bumper
     parent: rear_bumper_mount
   - name: top_plate
     type: top_plate
     model: pacs
   - name: sensor_arch
     type: sensor_arch
     parent: default_mount
     model: sensor_arch_300
     enabled: true
   extras:
   urdf: null
   ros_parameters:
     platform_velocity_controller:
       linear.x.max_velocity": 1.0
       linear.x.min_velocity": -1.0
       linear.x.max_acceleration": 3.0
       linear.x.min_acceleration": -3.0
       angular.z.max_velocity": 2.0
       angular.z.min_velocity": -2.0
       angular.z.max_acceleration": 6.0
       angular.z.min_acceleration": -6.0
   links:
   box:
   - name: user_bay_cover
   parent: default_mount
   xyz: [0.0, 0.0, 0.0075]
   rpy: [0.0, 0.0, 0.0]
   size: [0.4, 0.4, 0.002]
   cylinder: []
   frame: []
   mesh: []
   sphere: []
   mounts:
   bracket:
   - parent: top_plate_mount_d1
   xyz: [0.0, 0.0, 0.0]
   rpy: [0.0, 0.0, 0.0]
   model: horizontal
   fath_pivot:
   - parent: sensor_arch_mount
   xyz: [0.0, 0.0, -0.021]
   rpy: [3.1415, 0.0, 0.0]
   angle: 0.0
   riser: []
   disk: []
   post: []
   sensors:
   camera:
   - model: intel_realsense
   urdf_enabled: true
   launch_enabled: true
   parent: fath_pivot_0_mount
   xyz: [0.0, 0.0, 0.0]
   rpy: [0.0, 0.0, 0.0]
   ros_parameters:
     camera:
       camera_name: camera_0
       device_type: d435
       serial_no: '0'
       enable_color: true
       rgb_camera.profile: 640,480,30
       enable_depth: true
       depth_module.profile: 640,480,30
       pointcloud.enable: true
   gps: []
   imu: []
   lidar2d:
   - model: hokuyo_ust
   urdf_enabled: true
   launch_enabled: true
   parent: bracket_0_mount
   xyz: [0.0, 0.0, 0.0]
   rpy: [0.0, 0.0, 0.0]
   ros_parameters:
     urg_node:
       laser_frame_id: lidar2d_0_laser
       ip_address: 192.168.131.20
       ip_port: 10940
       angle_min: -3.141592653589793
       angle_max: 3.141592653589793
   lidar3d:
   - model: velodyne_lidar
   urdf_enabled: true
   launch_enabled: true
   parent: sensor_arch_mount
   xyz: [0.0, 0.0, 0.0]
   rpy: [0.0, 0.0, 0.0]
   ros_parameters:
     velodyne_driver_node:
       frame_id: lidar3d_0_laser
       device_ip: 192.168.131.25
       port: 2368
       model: VLP16
     velodyne_transform_node:
       model: VLP16
       fixed_frame: lidar3d_0_laser
       target_frame: lidar3d_0_laser

5 - Launch the simulation with 
`ros2 launch clearpath_gz simulation.launch.py rviz:=true setup_path:=$HOME/clearpath/cp1`

6 - Spawn a robot with

`ros2 launch clearpath_gz robot_spawn.launch.py setup_path:=$HOME/clearpath/cp5`

7- use teleop to drive to drive the robot 5, not working

'ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/a200_0005/cmd_vel'

[roni-kreinin]

See https://github.com/ros-controls/gz_ros2_control/issues/145

[Gior26]

Ugly workaround but works if you're using multiple instances of the same robot. In clearpath_generator_common/clearpath_generator_common/param/platform.py replace the namespace with "/**" in line 88.

@@ -88,7 +88,7 @@ class PlatformParam():
             # Parameter file to generate
             self.param_file = ParamFile(
                 name=self.parameter,
-                namespace=self.namespace,
+                namespace="/**",
                 path=self.param_path)