[ROS2 Humble] WebotsController namespace Error

[Tubagc]

I am trying to add namespace to the nodes and topics modifying the webots_ros2_turtlebot package. My only modification is specifying the namespace parameter when declaring the WebotsController object in the robot_launch.py

turtlebot_driver = WebotsController( namespace='namespace', robot_name='TurtleBot3Burger', parameters=[ {'robot_description': robot_description_path, 'use_sim_time': use_sim_time, 'set_robot_state_publisher': True}, ros2_control_params ], remappings=mappings, respawn=True )

When I run the command

ros2 launch webots_ros2_turtlebot robot_launch.py I get this error :

Does WebotsController class support namespace parameter?

[ralphieraccoon]

I was stuck on this same issue for a long time! The solution is you need to include the namespace in your ros2_control_params YAML file for the controller manager and each individual controller in the format <namespace>/controller_manager and <namespace>/<controller_name>. See the webots_ros2_universal_robot example, in particular the files ros2_control_abb_config.yaml and ros2_control_config.yaml.

[omichel]

I am closing the issue for now. Feel free to re-open if needed.