From 4c98e102d40811c70a8cc6a4a345e2c27acbe4e9 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <109142865+delihus@users.noreply.github.com>
Date: Thu, 11 Jan 2024 10:29:16 +0100
Subject: [PATCH] Gazebo ignition multirobots (#39)

* added namespaces for astra rplidar

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

* added namespace gazebo to other rplidars

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

* Tabs + ns

---------

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Co-authored-by: rafal-gorecki <rafal.gorecki@husarion.com>
---
 urdf/orbbec_astra.urdf.xacro       | 18 ++++++++++++------
 urdf/slamtec_rplidar_a2.urdf.xacro | 20 +++++++++++++-------
 urdf/slamtec_rplidar_a3.urdf.xacro | 21 ++++++++++++++-------
 urdf/slamtec_rplidar_s1.urdf.xacro | 21 ++++++++++++++-------
 urdf/slamtec_rplidar_s2.urdf.xacro | 20 +++++++++++++-------
 urdf/slamtec_rplidar_s3.urdf.xacro | 20 +++++++++++++-------
 6 files changed, 79 insertions(+), 41 deletions(-)

diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index 7af5ce2..f6f90f8 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -4,8 +4,16 @@
                params="parent_link xyz rpy
                        tf_prefix:=None
                        camera_name:=camera
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${tf_prefix == 'None'}">
       <xacro:property name="prefix" value="" />
     </xacro:if>
@@ -90,7 +98,7 @@
           <always_on>true</always_on>
           <update_rate>20.0</update_rate>
 
-          <topic>${camera_name}</topic>
+          <topic>${ns}${camera_name}</topic>
           <!-- It is not possible to split the frame of the color and the depth stream.
                The frame of color stream should be ${prefix}${camera_name}_color_optical_frame -->
           <ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
@@ -107,13 +115,11 @@
               <far>8.0</far>
             </clip>
           </camera>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <!-- <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
-      </gazebo>  -->
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
index f60d0a5..0eb88fd 100644
--- a/urdf/slamtec_rplidar_a2.urdf.xacro
+++ b/urdf/slamtec_rplidar_a2.urdf.xacro
@@ -12,8 +12,16 @@
                        topic:=scan
                        frame_id:=laser
                        model:=A2M12
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -100,9 +108,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_a2_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_a2_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -129,13 +137,11 @@
           </ray>
           <always_on>true</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-          <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-          </plugin>
-        </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
index 8b11d2d..44a223f 100644
--- a/urdf/slamtec_rplidar_a3.urdf.xacro
+++ b/urdf/slamtec_rplidar_a3.urdf.xacro
@@ -6,8 +6,17 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -75,9 +84,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_a3_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_a3_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -105,13 +114,11 @@
           </ray>
           <always_on>true</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-          <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-          </plugin>
-        </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
index fcbd06f..b9a02b6 100644
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -6,8 +6,17 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace=None
                        simulation_engine:=gazebo-classic">
 
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -83,9 +92,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_s1_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_s1_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -112,13 +121,11 @@
           </ray>
           <always_on>1</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
-      </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
diff --git a/urdf/slamtec_rplidar_s2.urdf.xacro b/urdf/slamtec_rplidar_s2.urdf.xacro
index 5505e36..adba748 100644
--- a/urdf/slamtec_rplidar_s2.urdf.xacro
+++ b/urdf/slamtec_rplidar_s2.urdf.xacro
@@ -6,8 +6,16 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -75,9 +83,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_s2_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_s2_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -104,13 +112,11 @@
           </ray>
           <always_on>1</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
-      <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
-      </gazebo>
     </xacro:if>
 
     <xacro:if value="${simulation_engine == 'gazebo-classic'}">
diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
index a7d5b90..a86d810 100644
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ b/urdf/slamtec_rplidar_s3.urdf.xacro
@@ -6,8 +6,16 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=laser
+                       namespace=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:if value="${simulation_engine == 'gazebo-classic'}">
         <xacro:property name="ray_type" value="gpu_ray" />
@@ -75,9 +83,9 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${frame_id}">
-        <sensor type="${ray_type}" name="${prefix}rplidar_s3_sensor">
+        <sensor type="${ray_type}" name="${ns}${prefix}rplidar_s3_sensor">
 
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
 
@@ -105,11 +113,9 @@
           <always_on>1</always_on>
           <visualize>false</visualize>
         </sensor>
-      </gazebo>
-      <gazebo>
-        <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
-          <render_engine>ogre2</render_engine>
-        </plugin>
+        <ros>
+          <namespace>${ns}</namespace>
+        </ros>
       </gazebo>
     </xacro:if>