BarrettBytes
commented
1 week ago Okay, my bad here, you can modify this file to edit /robot_state_publisher, I tried earlier but my changes hadn't saved and didn't apply properly https://github.com/mangdangroboticsclub/champ/blob/ros2/champ_description/launch/description.launch.py however I haven't been able to get the robot to move yet and the topics haven't all reassigned to the new namespace. I still think it is worth making this a feature that is easy to use out the box and documenting how to do it. Possibly defining a default namespace that can quickly be changed across the whole robot with sed would be advantageous so that you can quickly assign a new namespace to each robot. UPDATE: up to trying to get this working for NAV, this part is a real nightmare
It is currently very hard to create a multi robot system with the current architecture. You should be able to assign a namespace to a robot such as robotx and then another namespace to another robot such as roboty and have each robot run on the same network and be controllable with nav 2. however this is extremely difficult, it is not appropriate for me to share my code at the moment as it is a part of a project submission, however I was able to achieve this
the node /robot_state_publisher however is almost impossible to access and can't be modified by simply adding namespaces to any of the bringup.py files. If you search for "robot_state_publisher" in the project files it doesn't appear very often and I have tried adding a namespace to each appearance and it has not been successful. (All the topics without a namespace are generated by /robot_state_publisher