zhuhaier1992
commented
7 months ago By the way, I used a launch file to launch multiple launches, I don't know if this could be the problem. The launch file startup.launch.py is as follows:
from launch_ros.substitutions import FindPackageShare
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
from launch_ros.actions import Node
from launch.substitutions import PathJoinSubstitution, TextSubstitution
def generate_launch_description():
return LaunchDescription([
IncludeLaunchDescription(
XMLLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('robomaster_ros'),
'launch',
'ep.launch'
])
]),
launch_arguments={
'name': 'RM1',
'serial_number': '3JKDH2T00159G8',
}.items()
),
IncludeLaunchDescription(
XMLLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('robomaster_ros'),
'launch',
'ep.launch'
])
]),
launch_arguments={
'name': 'RM2',
'serial_number': '3JKCJC400302GS',
}.items()
),
IncludeLaunchDescription(
XMLLaunchDescriptionSource([
PathJoinSubstitution([
FindPackageShare('robomaster_ros'),
'launch',
'ep.launch'
])
]),
launch_arguments={
'name': 'RM3',
'serial_number': '3JKCJC400301ZP',
}.items()
),
])
'''
The launch file for S1 simply replace 'ep.launch' to 's1.launch'.
jeguzzi
Hi Jerome, I have been learning and using ROS2 recently, and this repo is really helpful. It allows multiple control of robomaster, combined with ROS2 which makes coding much easier, thanks a lot! When I use it to control three S1, the namespace become strange. I simply set each serial number and their respective name to RM4, RM5, RM6. But the namespace become:
Which is strange, because when I do the same thing to three EP, the namespace is normal: