Fixed gz_bridges after may humble sync (#48)

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Jun 4, 2024 · a9e2223 · a9e2223
1 parent 234c6ae
commit a9e2223
Show file tree

Hide file tree

Showing 6 changed files with 40 additions and 29 deletions.
diff --git a/config/gz_kinova_remappings.yaml b/config/gz_kinova_remappings.yaml
@@ -1,20 +1,20 @@
 ---
-  - topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/camera_info
+  - topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/camera_info
     ros_type_name: sensor_msgs/msg/CameraInfo
     gz_type_name: ignition.msgs.CameraInfo
     lazy: true
 
-  - topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/image
+  - topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/image
     ros_type_name: sensor_msgs/msg/Image
     gz_type_name: ignition.msgs.Image
     lazy: true
 
-  - topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/depth_image
+  - topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/depth_image
     ros_type_name: sensor_msgs/msg/Image
     gz_type_name: ignition.msgs.Image
     lazy: true
 
-  - ros_topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/points
+  - ros_topic_name: /<robot_namespace>/<device_namespace>/wrist_mounted_camera/points
     ros_type_name: sensor_msgs/msg/PointCloud2
     gz_type_name: ignition.msgs.PointCloudPacked
     lazy: true
diff --git a/config/gz_orbbec_astra_remappings.yaml b/config/gz_orbbec_astra_remappings.yaml
@@ -1,27 +1,31 @@
 ---
 # https://github.com/orbbec/OrbbecSDK_ROS2#all-available-topics
-  - topic_name: <robot_namespace><device_namespace>/<camera_name>/color/camera_info
-    ros_type_name: sensor_msgs/msg/CameraInfo
-    gz_type_name: ignition.msgs.CameraInfo
-    lazy: true
+- ros_topic_name: <robot_namespace><device_namespace>/<camera_name>/color/camera_info
+  gz_topic_name: <robot_namespace><device_namespace>/color/camera_info
+  ros_type_name: sensor_msgs/msg/CameraInfo
+  gz_type_name: ignition.msgs.CameraInfo
+  lazy: true
 
-  - topic_name: <robot_namespace><device_namespace>/<camera_name>/color/image_raw
-    ros_type_name: sensor_msgs/msg/Image
-    gz_type_name: ignition.msgs.Image
-    lazy: true
+- ros_topic_name: <robot_namespace><device_namespace>/<camera_name>/color/image_raw
+  gz_topic_name: <robot_namespace><device_namespace>/color/image_raw
+  ros_type_name: sensor_msgs/msg/Image
+  gz_type_name: ignition.msgs.Image
+  lazy: true
 
-  - topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/camera_info
-    ros_type_name: sensor_msgs/msg/CameraInfo
-    gz_type_name: ignition.msgs.CameraInfo
-    lazy: true
+- ros_topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/camera_info
+  gz_topic_name: <robot_namespace><device_namespace>/depth/camera_info
+  ros_type_name: sensor_msgs/msg/CameraInfo
+  gz_type_name: ignition.msgs.CameraInfo
+  lazy: true
 
-  - topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/image_raw
-    ros_type_name: sensor_msgs/msg/Image
-    gz_type_name: ignition.msgs.Image
-    lazy: true
+- ros_topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/image_raw
+  gz_topic_name: <robot_namespace><device_namespace>/depth/image_raw
+  ros_type_name: sensor_msgs/msg/Image
+  gz_type_name: ignition.msgs.Image
+  lazy: true
 
-  - ros_topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/points
-    gz_topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/image_raw/points
-    ros_type_name: sensor_msgs/msg/PointCloud2
-    gz_type_name: ignition.msgs.PointCloudPacked
-    lazy: true
+- ros_topic_name: <robot_namespace><device_namespace>/<camera_name>/depth/points
+  gz_ros_topic_name: <robot_namespace><device_namespace>/depth/image_raw/points
+  ros_type_name: sensor_msgs/msg/PointCloud2
+  gz_type_name: ignition.msgs.PointCloudPacked
+  lazy: true
diff --git a/launch/gz_components.launch.py b/launch/gz_components.launch.py
@@ -41,7 +41,7 @@ def get_launch_description(name: str, package: str, namespace: str, component: y
     device_namespace = get_value(component, "device_namespace")
     robot_namespace = namespace
 
-    if  "ur3" not in name and "kinova" not in name and "robotiq" not in name:
+    if "ur" not in name and "kinova" not in name and "robotiq" not in name:
         if len(robot_namespace) and robot_namespace[0] != "/":
             robot_namespace = "/" + robot_namespace
         if len(device_namespace) and device_namespace[0] != "/":

diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
@@ -153,6 +153,7 @@
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
+          namespace="${robot_namespace}"
           device_namespace="${device_namespace}"
           kinova_type="gen3"
           dof="6"
@@ -171,6 +172,7 @@
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
+          namespace="${robot_namespace}"
           device_namespace="${device_namespace}"
           kinova_type="gen3"
           dof="6"
@@ -179,7 +181,6 @@
         />
       </xacro:if>
 
-
       <xacro:if value="${type == 'MAN06'}">
         <xacro:include
           filename="$(find ros_components_description)/urdf/kinova.urdf.xacro"
@@ -190,6 +191,7 @@
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
+          namespace="${robot_namespace}"
           device_namespace="${device_namespace}"
           kinova_type="gen3"
           dof="7"
@@ -208,6 +210,7 @@
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
+          namespace="${robot_namespace}"
           kinova_type="gen3"
           dof="7"
           gripper="robotiq_2f_85"
@@ -224,6 +227,7 @@
           parent_link="${parent_link}"
           xyz="${xyz}"
           rpy="${rpy}"
+          namespace="${robot_namespace}"
           device_namespace="${device_namespace}"
           robotiq_type="2f_85"
         />

diff --git a/urdf/kinova.urdf.xacro b/urdf/kinova.urdf.xacro
@@ -184,8 +184,11 @@
           <always_on>1</always_on>
           <update_rate>${camera_fps}</update_rate>
           <visualize>true</visualize>
-          <topic>${ns}wrist_mounted_camera</topic>
+          <topic>${ns}${device_namespace}/wrist_mounted_camera</topic>
           <enable_metrics>false</enable_metrics>
+          <ros>
+            <namespace>${ns}${device_namespace}</namespace>
+          </ros>
         </sensor>
       </gazebo>
 

diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
@@ -112,7 +112,7 @@
           <far>8.0</far>
         </clip>
         <ros>
-          <namespace>${ns}</namespace>
+          <namespace>${ns}${device_namespace}</namespace>
         </ros>
       </sensor>