Add namespaced example

gazebo_ros2_control_demos/config/cart_controller_position_namespaced.yaml

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+/my_ns/controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+/my_ns/joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - slider_to_cart
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

gazebo_ros2_control_demos/launch/cart_example_position_namespaced.launch.py

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+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch_ros.actions import Node
+
+import xacro
+
+
+def generate_launch_description():
+    gazebo = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([os.path.join(
+                    get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
+             )
+
+    gazebo_ros2_control_demos_path = os.path.join(
+        get_package_share_directory('gazebo_ros2_control_demos'))
+
+    xacro_file = os.path.join(gazebo_ros2_control_demos_path,
+                              'urdf',
+                              'test_cart_position_namespaced.xacro.urdf')
+
+    doc = xacro.parse(open(xacro_file))
+    xacro.process_doc(doc)
+    params = {'robot_description': doc.toxml()}
+
+    node_robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        namespace="my_ns",
+        output='screen',
+        parameters=[params]
+    )
+
+    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
+                        namespace="my_ns",
+                        arguments=['-topic', 'robot_description',
+                                   '-entity', 'cart'],
+                        output='screen')
+
+    load_joint_state_broadcaster = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             '-c', '/my_ns/controller_manager',
+             'joint_state_broadcaster'],
+        output='screen'
+    )
+
+    load_joint_trajectory_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             '-c', '/my_ns/controller_manager',
+             'joint_trajectory_controller'],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=spawn_entity,
+                on_exit=[load_joint_state_broadcaster],
+            )
+        ),
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=load_joint_state_broadcaster,
+                on_exit=[load_joint_trajectory_controller],
+            )
+        ),
+        gazebo,
+        node_robot_state_publisher,
+        spawn_entity,
+    ])

gazebo_ros2_control_demos/urdf/test_cart_position_namespaced.xacro.urdf

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+<?xml version="1.0" ?>
+<robot name="cart">
+  <link name="world"/>
+  <link name="slideBar">
+    <visual>
+      <geometry>
+        <box size="30 0.05 0.05"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="green">
+        <color rgba="0 0.8 .8 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="100"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <link name="cart">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.2"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="world_to_base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 1"/>
+    <parent link="world"/>
+    <child link="slideBar"/>
+  </joint>
+  <joint name="slider_to_cart" type="prismatic">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.0"/>
+    <parent link="slideBar"/>
+    <child link="cart"/>
+    <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <ros2_control name="GazeboSystem" type="system">
+    <hardware>
+      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+    </hardware>
+    <joint name="slider_to_cart">
+      <command_interface name="position">
+        <param name="min">-15</param>
+        <param name="max">15</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">1.0</param>
+      </state_interface>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+  </ros2_control>
+
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      <ros>
+        <namespace>my_ns</namespace>
+      </ros>
+      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller_position_namespaced.yaml</parameters>
+    </plugin>
+  </gazebo>
+</robot>