Multi robot spawn working

.pre-commit-config.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
         # mesh files has to be taken into account
@@ -23,7 +23,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/PyCQA/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
         args: ["--profile", "black"]
@@ -51,23 +51,24 @@ repos:
             "--ignore-words-list",
             "ned" # north, east, down (NED)
           ]
+        exclude_types: [rst]
         language: python
         types: [text]
 
   - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
-    rev: 0.2.1
+    rev: 0.2.3
     hooks:
       - id: yamlfmt
         files: ^.github|./\.yaml
 
   - repo: https://github.com/psf/black
-    rev: 23.10.1
+    rev: 24.4.0
     hooks:
       - id: black
-        args: ["--line-length=99", "--experimental-string-processing"]
+        args: ["--line-length=99"]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 6.1.0
+    rev: 7.0.0
     hooks:
       - id: flake8
         args:

panther/panther_hardware.repos

@@ -1,21 +1,25 @@
 repositories:
+  behaviortree_ros2:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.ROS2
+    version: ce923e19c12d28f4734a41b1442c123f2d4a41d2
+  husarion_controllers:
+    type: git
+    url: https://github.com/husarion/husarion_controllers
+    version: main
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git
     version: ros2
+  robot_localization: # Caused by this error https://github.com/cra-ros-pkg/robot_localization/pull/876, it can be removed after the next synchronization of apt packages.
+    type: git
+    url: https://github.com/cra-ros-pkg/robot_localization.git
+    version: humble-devel
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version: ros2
-  husarion_controllers:
-    type: git
-    url: https://github.com/husarion/husarion_controllers
-    version: main
-  behaviortree_ros2:
-    type: git
-    url: https://github.com/BehaviorTree/BehaviorTree.ROS2
-    version: ce923e19c12d28f4734a41b1442c123f2d4a41d2
-  ros2_controllers:
+  ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
-    url: https://github.com/delihus/ros2_controllers
-    version: 60919d60fb02eb920b0bf42e4d86853db23233cc
+    url: https://github.com/rafal-gorecki/ros2_controllers.git
+    version: humble

panther_battery/launch/battery.launch.py

@@ -28,7 +28,7 @@ def generate_launch_description():
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
         default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
-        description="Add namespace to all launched nodes",
+        description="Add namespace to all launched nodes.",
     )
 
     battery_node = Node(

panther_bringup/launch/bringup.launch.py

@@ -74,7 +74,7 @@ def generate_launch_description():
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
         default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
-        description="Add namespace to all launched nodes",
+        description="Add namespace to all launched nodes.",
     )
 
     use_sim = LaunchConfiguration("use_sim")
@@ -145,11 +145,7 @@ def generate_launch_description():
     declare_led_config_file_arg = DeclareLaunchArgument(
         "led_config_file",
         default_value=PathJoinSubstitution(
-            [
-                FindPackageShare("panther_lights"),
-                "config",
-                PythonExpression(["'led_config.yaml'"]),
-            ]
+            [FindPackageShare("panther_lights"), "config", "led_config.yaml"]
         ),
         description="Path to a YAML file with a description of led configuration",
     )
@@ -287,9 +283,10 @@ def generate_launch_description():
         executable="ekf_node",
         name="ekf_node",
         output="screen",
-        parameters=[ekf_config_path],
+        parameters=[ekf_config_path, {"tf_prefix": namespace}],
         namespace=namespace,
         remappings=[
+            ("/diagnostics", "diagnostics"),
             ("enable", "ekf_node/enable"),
             ("set_pose", "ekf_node/set_pose"),
             ("toggle", "ekf_node/toggle"),
@@ -316,7 +313,7 @@ def generate_launch_description():
     )
 
     other_action_timer = TimerAction(
-        period=10.0,
+        period=7.0,
         actions=[
             battery_launch,
             lights_launch,
@@ -325,18 +322,6 @@ 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,
@@ -356,7 +341,6 @@ def generate_launch_description():
         welcome_msg,
         controller_launch,
         system_status_node,
-        waiting_msg,
         other_action_timer,
     ]
 

panther_controller/config/WH01_controller.yaml

@@ -14,7 +14,6 @@
   imu_broadcaster:
     ros__parameters:
       use_namespace_as_sensor_name_prefix: true
-      tf_frame_prefix_enable: false
 
       sensor_name: imu
       frame_id: imu_link
@@ -29,7 +28,6 @@
     ros__parameters:
       left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"]
       right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"]
-      tf_frame_prefix_enable: false
 
       wheel_separation: 0.697
       wheel_radius: 0.1825

panther_controller/config/WH02_controller.yaml

@@ -14,7 +14,6 @@
   imu_broadcaster:
     ros__parameters:
       use_namespace_as_sensor_name_prefix: true
-      tf_frame_prefix_enable: false
 
       sensor_name: imu
       frame_id: imu_link
@@ -31,7 +30,6 @@
       front_right_wheel_name: fr_wheel_joint
       rear_left_wheel_name: rl_wheel_joint
       rear_right_wheel_name: rr_wheel_joint
-      tf_frame_prefix_enable: false
 
       wheel_separation_x: 0.44
       wheel_separation_y: 0.6785

panther_controller/config/WH04_controller.yaml

@@ -14,7 +14,6 @@
   imu_broadcaster:
     ros__parameters:
       use_namespace_as_sensor_name_prefix: true
-      tf_frame_prefix_enable: false
 
       sensor_name: imu
       frame_id: imu_link
@@ -29,7 +28,6 @@
     ros__parameters:
       left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"]
       right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"]
-      tf_frame_prefix_enable: false
 
       wheel_separation: 0.616
       wheel_radius: 0.1016

panther_controller/launch/controller.launch.py

@@ -27,6 +27,7 @@
     FindExecutable,
     LaunchConfiguration,
     PathJoinSubstitution,
+    PythonExpression,
 )
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
@@ -87,7 +88,7 @@ def generate_launch_description():
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
         default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
-        description="Add namespace to all launched nodes",
+        description="Add namespace to all launched nodes.",
     )
 
     # Get URDF via xacro
@@ -135,7 +136,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, controller_config_path],
+        parameters=[controller_config_path],
         namespace=namespace,
         remappings=[
             (
@@ -157,11 +158,13 @@ def generate_launch_description():
         condition=UnlessCondition(use_sim),
     )
 
+    namespace_ext = PythonExpression(["'", namespace, "' + '/' if '", namespace, "' else ''"])
+
     robot_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         output="both",
-        parameters=[robot_description],
+        parameters=[robot_description, {"frame_prefix": namespace_ext}],
         namespace=namespace,
         condition=IfCondition(publish_robot_state),
     )

panther_description/urdf/panther_macro.urdf.xacro

@@ -63,7 +63,7 @@
       wheel_separation_x="${wheel_separation_x}"
       prefix="rr" />
 
-    <ros2_control name="${ns}wheels" type="system">
+    <ros2_control name="${ns}panther_system" type="system">
       <hardware>
         <xacro:if value="${use_sim}">
           <xacro:if value="${simulation_engine == 'ignition-gazebo'}">

panther_gazebo/README.md

@@ -4,20 +4,24 @@ A package containing the launch files and dependencies needed to run the simulat
 
 ## Usage
 
-The recommended method for launching the simulation is by utilizing the [simulation.launch.py](https://github.com/husarion/panther_ros/panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration.
+The recommended method for launching the simulation is by utilizing the [simulation.launch.py](https://github.com/husarion/panther_ros/panther_gazebo/launch/simulation.launch.py) file. Below, you will find launch arguments that enable simulation configuration. You can also launch more robots using `spawn.launch.py` ​​after the system has been started.
 
 ### Launch Arguments
 
+- `add_world_transform` [*bool*, default: **False**]: Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots).
 - `battery_config_path` [*string*, default: **panther_gazebo/config/battery_plugin_config.yaml**]: Path to the Ignition `LinearBatteryPlugin` configuration file. This configuration is intended for use in simulations only. For more information on how to configure this plugin, please refer to the [Linear Battery Plugin](#linear-battery-plugin) section.
 - `controller_config_path` [*string*, default: **panther_controller/config/<wheel_type arg>_controller.yaml**]: Path to the controller configuration file. If you want to use a custom configuration, you can specify the path to your custom controller configuration file here.
 - `gz_bridge_config_path` [*string*, default: **panther_gazebo/config/gz_bridge.yaml**]: Path to the `parameter_bridge` configuration file. For detailed information on configuring the `parameter_bridge`, please refer to this [example](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#example-5-configuring-the-bridge-via-yaml).
 - `gz_log_level` [*[0-4]*, default: **1**]: Adjust the level of console output.
 - `headless_mode` [*bool*, default: **False**]: Run the simulation in headless mode. Useful when a GUI is not needed or to reduce the amount of calculations.
-- `pos_x` [*float*, default: **5.0**]: spawn position **[m]** of the robot in the world in **X** direction.
-- `pos_y` [*float*, default: **-5.0**]: spawn position **[m]** of the robot in the world in **Y** direction.
-- `pos_z` [*float*, default: **0.2**]: spawn position **[m]** of the robot in the world in **Z** direction.
-- `rot_yaw` [*float*, default: **0.0**]: spawn yaw angle **[rad]** of the robot in the world.
+- `x` [*float*, default: **5.0**]: spawn position **[m]** of the robot in the world in **X** direction.
+- `y` [*float*, default: **-5.0**]: spawn position **[m]** of the robot in the world in **Y** direction.
+- `z` [*float*, default: **0.2**]: spawn position **[m]** of the robot in the world in **Z** direction.
+- `roll` [*float*, default: **0.0**]: spawn roll angle **[rad]** of the robot in the world.
+- `pitch` [*float*, default: **0.0**]: spawn pitch angle **[rad]** of the robot in the world.
+- `yaw` [*float*, default: **0.0**]: spawn yaw angle **[rad]** of the robot in the world.
 - `publish_robot_state` [*bool*, default: **true**]: Whether to launch the robot_state_publisher node. When set to `false`, users should publish their own robot description.
+- `robots` [*yaml style*, default: **""**]: The list of the robots spawned in the simulation e.g. robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0}'"
 - `wheel_config_path` [*string*, default: **panther_description/config/<wheel_type arg>.yaml**]: Path to the wheel configuration file. If you want to use a custom configuration, you can specify the path to your custom wheel configuration file here. Please refer to the `wheel_type` parameter description for more information.
 - `wheel_type` [*string*, default: **WH01**]: Specify the type of wheel. If you select a value from the provided options (`WH01`, `WH02`, `WH04`), you can disregard the `wheel_config_path` and `controller_config_path` parameters. If you have custom wheels, set this parameter to `CUSTOM` and provide the necessary configurations.
 - `world` [*string*, default: **-r <husarion_gz_worlds share directory>/worlds/husarion_world.sdf**]: path to Gazebo world file used for simulation.