Add namespaces

.github/workflows/industrial_ci.yaml

@@ -39,6 +39,9 @@ jobs:
             - name: Clone installation requirements
               shell: bash
               run: python3 -m pip install -U vcstool && vcs import . < ./rosbot/rosbot_hardware.repos && vcs import . < ./rosbot/rosbot_simulation.repos
+            - name: Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
+              shell: bash
+              run: cp -r ros2_controllers/diff_drive_controller . && cp -r ros2_controllers/imu_sensor_broadcaster . && rm -rf ros2_controllers
             - uses: ros-industrial/industrial_ci@master
               env:
                   ROS_DISTRO: ${{matrix.ROS_DISTRO}}

.gitignore

@@ -12,6 +12,7 @@ ros_components_description/
 rosbot_controllers/
 husarion/husarion_office_gz
 gazebosim/gz_ros2_control
+ros2_controllers
 
 # pyspelling
 *.dic

.wordlist.txt

@@ -120,3 +120,8 @@ Palacios
 env
 pids
 pgrep
+namespace
+TODO
+delipl
+microros
+namespaces

rosbot/rosbot_hardware.repos

@@ -2,12 +2,19 @@ repositories:
   rosbot_hardware_interfaces:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git
-    version: main
+    version: add-namespace
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version:  ros2
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
-    version: main
+    version: add-namespace
+  # Waiting for backporting to the humble version
+  # https://github.com/ros-controls/ros2_controllers/pull/726 and
+  # https://github.com/ros-controls/ros2_controllers/pull/831
+  ros2_controllers:
+    type: git
+    url: https://github.com/delihus/ros2_controllers
+    version: humble-backport

rosbot_bringup/config/ekf.yaml

@@ -1,7 +1,7 @@
 # Ref: http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html
 
 ## ekf config file ###
-ekf_filter_node:
+/**/ekf_filter_node:
     ros__parameters:
         frequency: 25.0
         sensor_timeout: 0.05
@@ -10,14 +10,16 @@ ekf_filter_node:
         transform_time_offset: 0.0
         transform_timeout: 0.05
 
+        # All transforms are overwritten in launch file due to the namespace argument
         map_frame: map
         odom_frame: odom
         base_link_frame: base_link
         world_frame: odom
         publish_tf: true
         publish_acceleration: false
 
-        odom0: /rosbot_base_controller/odom
+        # The odometry topic name is overwritten in launch file due to the namespace argument
+        odom0: rosbot_base_controller/odom
         odom0_config: [false, false, false, # X , Y , Z
                       false, false, false, # roll , pitch ,yaw
                       true, true, false, # dX , dY , dZ
@@ -29,7 +31,8 @@ ekf_filter_node:
         odom0_differential: false
         odom0_relative: true
 
-        imu0: /imu_broadcaster/imu
+        # The IMU topic name is overwritten in launch file due to the namespace argument
+        imu0: imu_broadcaster/imu
         imu0_config: [false, false, false, # X , Y , Z
                       false, false, true, # roll , pitch ,yaw
                       false, false, false, # dX , dY , dZ

rosbot_bringup/launch/bringup.launch.py

@@ -17,10 +17,20 @@
 from ament_index_python.packages import get_package_share_directory
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
 
 
 def generate_launch_description():
+    namespace = LaunchConfiguration("namespace")
+    namespace_tf_prefix = PythonExpression(
+        ["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "_'"]
+    )
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Namespace for all topics and tfs",
+    )
+
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -70,6 +80,7 @@ def generate_launch_description():
             "mecanum": mecanum,
             "use_gpu": use_gpu,
             "simulation_engine": simulation_engine,
+            "namespace": namespace,
         }.items(),
     )
 
@@ -80,10 +91,34 @@ def generate_launch_description():
         executable="ekf_node",
         name="ekf_filter_node",
         output="screen",
-        parameters=[ekf_config],
+        parameters=[
+            ekf_config,
+            {
+                "map_frame": LaunchConfiguration(
+                    "ekf_map_frame", default=[namespace_tf_prefix, "map"]
+                )
+            },
+            {
+                "odom_frame": LaunchConfiguration(
+                    "ekf_odom_frame", default=[namespace_tf_prefix, "odom"]
+                )
+            },
+            {
+                "base_link_frame": LaunchConfiguration(
+                    "ekf_base_link_frame", default=[namespace_tf_prefix, "base_link"]
+                )
+            },
+            {
+                "world_frame": LaunchConfiguration(
+                    "ekf_world_frame", default=[namespace_tf_prefix, "odom"]
+                )
+            },
+        ],
+        namespace=namespace,
     )
 
     actions = [
+        declare_namespace_arg,
         declare_mecanum_arg,
         declare_use_sim_arg,
         declare_use_gpu_arg,

rosbot_controller/config/diff_drive_controller.yaml

@@ -4,7 +4,7 @@ simulation_ignition_ros_control:
 
 # Separate controller manager used for simulation - only difference is
 # the use_sim_time parameter (it is the easiest way to do it with ign ros2 control)
-simulation_controller_manager:
+/**/simulation_controller_manager:
   ros__parameters:
     use_sim_time: true
     update_rate: 20 # Hz
@@ -17,7 +17,7 @@ simulation_controller_manager:
       type: imu_sensor_broadcaster/IMUSensorBroadcaster
 
 
-controller_manager:
+/**/controller_manager:
   ros__parameters:
     use_sim_time: false
     update_rate: 20 # Hz
@@ -29,16 +29,18 @@ controller_manager:
     imu_broadcaster:
       type: imu_sensor_broadcaster/IMUSensorBroadcaster
 
-imu_broadcaster:
+/**/imu_broadcaster:
   ros__parameters:
     sensor_name: imu
+    tf_frame_prefix_enable: True
     frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values measured experimentally
     static_covariance_linear_acceleration: [6.4e-2, 0.0, 0.0, 2.2e-2, 0.0, 0.0, 0.0, 0.0, 0.0] # Values measured experimentally
 
-rosbot_base_controller:
+/**/rosbot_base_controller:
   ros__parameters:
+    tf_frame_prefix_enable: True
     left_wheel_names: ["fl_wheel_joint", "rl_wheel_joint"]
     right_wheel_names: ["fr_wheel_joint", "rr_wheel_joint"]
 

rosbot_controller/config/mecanum_drive_controller.yaml

@@ -1,4 +1,4 @@
-controller_manager:
+/**/controller_manager:
   ros__parameters:
     use_sim_time: false
     update_rate: 20 # Hz
@@ -12,7 +12,7 @@ controller_manager:
 
 # Separate controller manager used for simulation - only difference is
 # the use_sim_time parameter (it is the easiest way to do it with ign ros2 control)
-simulation_controller_manager:
+/**/simulation_controller_manager:
   ros__parameters:
     use_sim_time: true
     update_rate: 20 # Hz
@@ -24,16 +24,18 @@ simulation_controller_manager:
     imu_broadcaster:
       type: imu_sensor_broadcaster/IMUSensorBroadcaster
 
-imu_broadcaster:
+/**/imu_broadcaster:
   ros__parameters:
-    sensor_name: "imu"
-    frame_id: "imu_link"
+    sensor_name: imu
+    tf_frame_prefix_enable: True
+    frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values based on diff_drive
     static_covariance_linear_acceleration: [6.4e-2, 0.0, 0.0, 2.2e-2, 0.0, 0.0, 0.0, 0.0, 0.0] # Values based on diff_drive
 
-rosbot_base_controller:
+/**/rosbot_base_controller:
   ros__parameters:
+    tf_frame_prefix_enable: True
     front_left_wheel_name: fl_wheel_joint
     front_right_wheel_name: fr_wheel_joint
     rear_left_wheel_name: rl_wheel_joint

rosbot_controller/launch/controller.launch.py

@@ -30,6 +30,13 @@
 
 
 def generate_launch_description():
+    namespace = LaunchConfiguration("namespace")
+    declare_namespace_arg = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Namespace for all topics and tfs",
+    )
+
     mecanum = LaunchConfiguration("mecanum")
     declare_mecanum_arg = DeclareLaunchArgument(
         "mecanum",
@@ -69,14 +76,22 @@ def generate_launch_description():
         ]
     )
 
-    controller_manager_name = PythonExpression(
+    controller_manager_type_name = PythonExpression(
         [
-            "'/simulation_controller_manager' if ",
+            "'simulation_controller_manager' if ",
             use_sim,
-            " else '/controller_manager'",
+            " else 'controller_manager'",
         ]
     )
 
+    namespace_for_controller_name = PythonExpression(
+        ["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "/'"]
+    )
+    controller_manager_name = LaunchConfiguration(
+        "controller_manager_name",
+        default=[namespace_for_controller_name, controller_manager_type_name],
+    )
+
     # Get URDF via xacro
     robot_description_content = Command(
         [
@@ -97,6 +112,8 @@ def generate_launch_description():
             use_gpu,
             " simulation_engine:=",
             simulation_engine,
+            " tf_prefix:=",
+            namespace,
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -112,20 +129,30 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[
+            robot_description,
+            robot_controllers,
+            {
+                "tf_frame_prefix": LaunchConfiguration(
+                    "rosbot_base_tf_frame_prefix", default=[namespace]
+                )
+            },
+        ],
         remappings=[
-            ("/imu_sensor_node/imu", "/_imu/data_raw"),
+            ("imu_sensor_node/imu", "/_imu/data_raw"),
             ("~/motors_cmd", "/_motors_cmd"),
             ("~/motors_response", "/_motors_response"),
-            ("/rosbot_base_controller/cmd_vel_unstamped", "/cmd_vel"),
+            ("rosbot_base_controller/cmd_vel_unstamped", "cmd_vel"),
         ],
         condition=UnlessCondition(use_sim),
+        namespace=namespace,
     )
 
     robot_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         parameters=[robot_description],
+        namespace=namespace,
     )
 
     joint_state_broadcaster_spawner = Node(
@@ -137,6 +164,8 @@ def generate_launch_description():
             controller_manager_name,
             "--controller-manager-timeout",
             "120",
+            "--namespace",
+            namespace,
         ],
     )
 
@@ -149,6 +178,8 @@ def generate_launch_description():
             controller_manager_name,
             "--controller-manager-timeout",
             "120",
+            "--namespace",
+            namespace,
         ],
     )
 
@@ -169,6 +200,8 @@ def generate_launch_description():
             controller_manager_name,
             "--controller-manager-timeout",
             "120",
+            "--namespace",
+            namespace,
         ],
     )
 
@@ -181,17 +214,18 @@ def generate_launch_description():
         )
     )
 
-    actions = [
-        declare_mecanum_arg,
-        declare_use_sim_arg,
-        declare_use_gpu_arg,
-        declare_simulation_engine_arg,
-        SetParameter(name="use_sim_time", value=use_sim),
-        control_node,
-        robot_state_pub_node,
-        joint_state_broadcaster_spawner,
-        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
-        delay_imu_broadcaster_spawner_after_robot_controller_spawner,
-    ]
-
-    return LaunchDescription(actions)
+    return LaunchDescription(
+        [
+            declare_namespace_arg,
+            declare_mecanum_arg,
+            declare_use_sim_arg,
+            declare_use_gpu_arg,
+            declare_simulation_engine_arg,
+            SetParameter("use_sim_time", value=use_sim),
+            control_node,
+            robot_state_pub_node,
+            joint_state_broadcaster_spawner,
+            delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+            delay_imu_broadcaster_spawner_after_robot_controller_spawner,
+        ]
+    )

rosbot_controller/test/test_diff_drive_controllers.py

@@ -43,6 +43,7 @@ def generate_test_description():
             "use_sim": "False",
             "mecanum": "False",
             "use_gpu": "False",
+            "namespace": "rosbot2r",
         }.items(),
     )
 

rosbot_controller/test/test_mecanum_controllers.py

@@ -43,6 +43,7 @@ def generate_test_description():
             "use_sim": "False",
             "mecanum": "True",
             "use_gpu": "False",
+            "namespace": "rosbot2r",
         }.items(),
     )