From 18f43a3af261b8ad453a2d78f57e5ac2deebdc50 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com>
Date: Thu, 3 Oct 2024 09:56:59 +0200
Subject: [PATCH] Add ROBOT_NAMESPACE env (#23)

* Add ROBOT_NAMESPACE env

* Rename param j2t_panther -> j2t_ugv

* Rename all occurrence
---
 README.md                                                  | 2 +-
 demo/single_robot/compose.panther.yaml                     | 4 ++--
 .../config/{joy2twist_panther.yaml => joy2twist_ugv.yaml}  | 0
 joy2twist/launch/gamepad_controller.launch.py              | 7 +++----
 joy2twist/launch/joy2twist.launch.py                       | 7 +++----
 5 files changed, 9 insertions(+), 11 deletions(-)
 rename joy2twist/config/{joy2twist_panther.yaml => joy2twist_ugv.yaml} (100%)

diff --git a/README.md b/README.md
index 01d3985..39b5943 100644
--- a/README.md
+++ b/README.md
@@ -75,7 +75,7 @@ The robot can be operated at 3 scales of speed depending on pressed buttons. It'
 - `regular` *(float, default: 0.5)*
 - `slow`    *(float, default: 0.2)*
 
-The node can be configured using parameters described below to work with robots equipped with an E-stop interface. An example configuration for a robot with an E-stop interface can be found in [panther config file](./joy2twist/config/joy2twist_panther.yaml).
+The node can be configured using parameters described below to work with robots equipped with an E-stop interface. An example configuration for a robot with an E-stop interface can be found in [panther config file](./joy2twist/config/joy2twist_ugv.yaml).
 
 - `~e_stop/present`         *(bool, default: false)*
 - `~e_stop/topic`           *(string, default: e_stop)*
diff --git a/demo/single_robot/compose.panther.yaml b/demo/single_robot/compose.panther.yaml
index 84a4b36..bdaed17 100644
--- a/demo/single_robot/compose.panther.yaml
+++ b/demo/single_robot/compose.panther.yaml
@@ -9,7 +9,7 @@ services:
     devices:
       - /dev/input/js0
     volumes:
-      - ./../../joy2twist/config/joy2twist_panther.yaml:/joy2twist_panther.yaml
+      - ./../../joy2twist/config/joy2twist_ugv.yaml:/joy2twist_ugv.yaml
     command: >
       ros2 launch joy2twist gamepad_controller.launch.py
-        joy2twist_params_file:=/joy2twist_panther.yaml
+        joy2twist_params_file:=/joy2twist_ugv.yaml
diff --git a/joy2twist/config/joy2twist_panther.yaml b/joy2twist/config/joy2twist_ugv.yaml
similarity index 100%
rename from joy2twist/config/joy2twist_panther.yaml
rename to joy2twist/config/joy2twist_ugv.yaml
diff --git a/joy2twist/launch/gamepad_controller.launch.py b/joy2twist/launch/gamepad_controller.launch.py
index 559fe13..f0e3f0e 100644
--- a/joy2twist/launch/gamepad_controller.launch.py
+++ b/joy2twist/launch/gamepad_controller.launch.py
@@ -4,15 +4,15 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
 
 
 def generate_launch_description():
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
-        default_value="",
-        description="Namespace for all topics and tfs",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Add namespace to all launched nodes.",
     )
 
     joy2twist_cfg_path = PathJoinSubstitution(
@@ -42,7 +42,6 @@ def generate_launch_description():
     joy_linux_node = Node(
         package="joy_linux",
         executable="joy_linux_node",
-        # output={"stdout": "screen", "stderr": "screen"},
         emulate_tty="true",
         namespace=namespace,
         remappings=[("/diagnostics", "diagnostics")],
diff --git a/joy2twist/launch/joy2twist.launch.py b/joy2twist/launch/joy2twist.launch.py
index c278988..2c870fd 100644
--- a/joy2twist/launch/joy2twist.launch.py
+++ b/joy2twist/launch/joy2twist.launch.py
@@ -3,15 +3,15 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
 
 
 def generate_launch_description():
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
-        default_value="",
-        description="Namespace for all topics and tfs",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Add namespace to all launched nodes.",
     )
 
     joy2twist_cfg_path = PathJoinSubstitution(
@@ -28,7 +28,6 @@ def generate_launch_description():
         package="joy2twist",
         executable="joy2twist",
         parameters=[LaunchConfiguration("joy2twist_params_file")],
-        # output={"stdout": "screen", "stderr": "screen"},
         emulate_tty="true",
         namespace=namespace,
     )