Multi robot spawn working

husarion · Mar 26, 2024 · ec58ca8 · ec58ca8
1 parent dbc445a
commit ec58ca8
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Showing 8 changed files with 172 additions and 96 deletions.
diff --git a/README.md b/README.md
@@ -6,6 +6,14 @@ ROS 2 packages for Panther autonomous mobile robot
 
 ## Quick start
 
+### Create workspace
+
+```bash
+mkdir ~/husarion_ws
+cd ~/husarion_ws
+git clone https://github.com/husarion/panther_ros.git src/panther_ros
+```
+
 ### Configure environment
 
 The repository is used to run the code both on the real robot and in the simulation. Specify `HUSARION_ROS_BUILD_TYPE` the variable according to your needs.
@@ -22,14 +30,6 @@ Simulation:
 export HUSARION_ROS_BUILD_TYPE=simulation
 ```
 
-### Create workspace
-
-```bash
-mkdir ~/husarion_ws
-cd ~/husarion_ws
-git clone https://github.com/husarion/panther_ros.git src/panther_ros
-```
-
 ### Build
 
 ``` bash

diff --git a/panther_battery/launch/battery.launch.py b/panther_battery/launch/battery.launch.py
@@ -21,6 +21,13 @@
 
 
 def generate_launch_description():
+    namespace = LaunchConfiguration("namespace")
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Namespace for all Panther topics",
+    )
+
     panther_version = LaunchConfiguration("panther_version")
     declare_panther_version_arg = DeclareLaunchArgument("panther_version")
 
@@ -29,9 +36,11 @@ def generate_launch_description():
         executable="battery_node",
         name="battery_node",
         parameters=[{"panther_version": panther_version}],
+        namespace=namespace,
     )
 
     actions = [
+        declare_namespace_arg,
         declare_panther_version_arg,
         battery_node,
     ]

diff --git a/panther_bringup/launch/bringup.launch.py b/panther_bringup/launch/bringup.launch.py
@@ -33,7 +33,7 @@
     PathJoinSubstitution,
     PythonExpression,
 )
-from launch_ros.actions import Node, PushRosNamespace, SetParameter
+from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
 
 
@@ -294,6 +294,7 @@ def generate_launch_description():
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
         ],
+        namespace=namespace,
         condition=IfCondition(use_ekf),
     )
 
@@ -309,13 +310,14 @@ def generate_launch_description():
         ),
         condition=UnlessCondition(use_sim),
         launch_arguments={
+            "namespace": namespace,
             "panther_version": panther_version,
             "shutdown_hosts_config_path": shutdown_hosts_config_path,
         }.items(),
     )
 
     other_action_timer = TimerAction(
-        period=10.0,
+        period=7.0,
         actions=[
             battery_launch,
             imu_launch,
@@ -325,18 +327,6 @@ def generate_launch_description():
         ],
     )
 
-    waiting_msg = TimerAction(
-        period=7.0,
-        actions=[
-            LogInfo(
-                msg=(
-                    "We're working on ensuring everything functions properly... Please wait a few"
-                    " seconds more!"
-                )
-            )
-        ],
-    )
-
     actions = [
         declare_namespace_arg,
         declare_use_sim_arg,
@@ -351,11 +341,9 @@ def generate_launch_description():
         declare_use_ekf_arg,
         declare_ekf_config_path_arg,
         declare_shutdown_hosts_config_path_arg,
-        PushRosNamespace(namespace),
         SetParameter(name="use_sim_time", value=use_sim),
         welcome_msg,
         controller_launch,
-        waiting_msg,
         other_action_timer,
     ]
 

diff --git a/panther_controller/launch/controller.launch.py b/panther_controller/launch/controller.launch.py
@@ -151,6 +151,7 @@ def generate_launch_description():
             ("/tf", "tf"),
             ("/tf_static", "tf_static"),
         ],
+        namespace=namespace,
         condition=UnlessCondition(use_sim),
     )
 
@@ -161,6 +162,7 @@ def generate_launch_description():
         parameters=[robot_description],
         remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
         condition=IfCondition(publish_robot_state),
+        namespace=namespace,
     )
 
     robot_controller_spawner = Node(
@@ -175,6 +177,7 @@ def generate_launch_description():
             "--namespace",
             namespace,
         ],
+        namespace=namespace,
     )
 
     joint_state_broadcaster_spawner = Node(
@@ -189,6 +192,7 @@ def generate_launch_description():
             "--namespace",
             namespace,
         ],
+        namespace=namespace,
     )
 
     # Delay start of robot_controller after joint_state_broadcaster
@@ -208,7 +212,10 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
+            "--namespace",
+            namespace,
         ],
+        namespace=namespace,
     )
 
     # Delay start of imu_broadcaster after robot_controller