Namespace fix (#7)

* Namespace fix

* nav2-common fix

Dockerfile

@@ -10,7 +10,9 @@ SHELL ["/bin/bash", "-c"]
 WORKDIR /ros2_ws
 
 RUN apt-get update && apt-get install -y \
-        ros-dev-tools python3-transforms3d && \
+        python3-transforms3d \
+        ros-dev-tools \
+        ros-${ROS_DISTRO}-nav2-common && \
     git clone -b ros2 https://github.com/ros-drivers/nmea_navsat_driver.git src/nmea_navsat_driver && \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \

demo/config/nmea_navsat_params.yaml

@@ -1,5 +1,5 @@
 ---
-/**:
+/**/<device_namespace>:
   ros__parameters:
     ip: 10.15.20.2
     port: 5000

demo/nmea_navsat.launch.py

@@ -16,12 +16,9 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import (
-    EnvironmentVariable,
-    LaunchConfiguration,
-    PythonExpression,
-)
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration
 from launch_ros.actions import Node
+from nav2_common.launch import ReplaceString
 
 
 def generate_launch_description():
@@ -46,8 +43,9 @@ def generate_launch_description():
         description="Namespace to all launched nodes and use namespace as tf_prefix. This aids in differentiating between multiple robots with the same devices.",
     )
 
-    tf_prefix = PythonExpression(
-        ["'", robot_namespace, "/' if '", robot_namespace, "' != '' else ''"]
+    rename_params_file = ReplaceString(
+        source_file=params_file,
+        replacements={"<device_namespace>": device_namespace, "//": "/"},
     )
 
     nmea_driver = Node(
@@ -58,9 +56,9 @@ def generate_launch_description():
         parameters=[
             {
                 "frame_id": device_namespace,
-                "tf_prefix": tf_prefix,
+                "tf_prefix": robot_namespace,
             },
-            params_file,
+            rename_params_file,
         ],
         remappings=[
             ("fix", "~/fix"),