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turtlebot / turtlebot4

Turtlebot4 common packages.
Apache License 2.0
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Namespacing support for turtlebot4 teams #113

Closed bbao200905 closed 1 year ago

bbao200905 commented 1 year ago

We are interested in coordinating movements among turtlebots. For this, namespacing support would be necessary. The user manual states that this support will be coming soon. Is there a recommended approach for this?

roni-kreinin commented 1 year ago

Namespacing support has been added to the humble branch. Because Galactic is EOL we aren't focusing on adding features to it any more. You can make a PR for it similar to the Humble PR if you are interested. Otherwise, I would recommend waiting for the Humble release.

Note that any updates to the galactic branch will not be released as new debian versions because Galactic is EOL.

bbao200905 commented 1 year ago

I think I found where the namespace update is. If I update a TB4 to the humble branch today, would I need to do anything special to get basic functionality? Is there a preliminary migration guide that exists, or a preliminary new user guide? Is there a date you're targeting for the humble release?

roni-kreinin commented 1 year ago

I don't have a specific release date but I am expecting to start releasing debian packages by next week. Once those are out, I will upload a new RPi image that you will be able to flash to your TB4. There will also be new Create 3 firmware to use. Documentation updates will follow.

I would not recommend updating a TB4 running ubuntu 20.04 to the humble branch as there are some breaking changes.

Jayden-F commented 1 year ago

Hello @bbao200905, I am sorry I didn't see this earlier. After my conversation almost a month ago with Roni. I pulled the changes into a forked repo. Here are the branches for namespacing the robot.

https://github.com/Jayden-F/turtlebot4_ws The following are submodules of the above: https://github.com/Jayden-F/turtlebot4_robot/tree/galactic-namespace https://github.com/Jayden-F/turtlebot4/tree/galactic-namespace

To my knowledge the robot is successfully namespaced, however, I am struggling to run localization for multiple robots.

Hope it helps.

ipa-rar commented 1 year ago

@Jayden-F Thank you for mentioning about your fork. I tried it for my use case and it did not work as expected. I could see the topics without any namespace. Can you provide some details on what you did to include namespace?

Jayden-F commented 1 year ago

@ipa-rar I am assuming you have successfully uinstalled the binaries and built the packages from source. I have added a readme file to the forked repo. The readme file explains how to replace the robot upstart service.

roni-kreinin commented 1 year ago

Humble has been released for the robot, including namespacing support. See #119 for details.

sumitpaulde commented 9 months ago

Hi @roni-kreinin How can I read the Namespace value in the ROS2 node? Where is the value of the Namespace stored?