Added namespace support

Author: AlexeyMerzlyakov

nav2_collision_monitor/launch/collision_monitor_node.launch.py

@@ -22,9 +22,12 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.substitutions import NotEqualsSubstitution
 from launch_ros.actions import LoadComposableNodes, SetParameter
 from launch_ros.actions import Node
+from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
+from nav2_common.launch import RewrittenYaml
 
 
 def generate_launch_description():
@@ -34,6 +37,8 @@ def generate_launch_description():
  # Constant parameters
  lifecycle_nodes = ['collision_monitor']
  autostart = True
+ remappings = [('/tf', 'tf'),
+ ('/tf_static', 'tf_static')]
 
  # Launch arguments
  # 1. Create the launch configuration variables
@@ -68,31 +73,46 @@ def generate_launch_description():
  'container_name', default_value='nav2_container',
  description='the name of conatiner that nodes will load in if use composition')
 
+ configured_params = RewrittenYaml(
+ source_file=params_file,
+ root_key=namespace,
+ param_rewrites={},
+ convert_types=True)
+
+ # Declare launch commands
  load_nodes = GroupAction(
  condition=IfCondition(PythonExpression(['not ', use_composition])),
  actions=[
  SetParameter('use_sim_time', use_sim_time),
+ PushRosNamespace(
+ condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('namespace'), '')),
+ namespace=namespace),
  Node(
  package='nav2_lifecycle_manager',
  executable='lifecycle_manager',
  name='lifecycle_manager_collision_monitor',
  output='screen',
  emulate_tty=True, # https://github.com/ros2/launch/issues/188
  parameters=[{'autostart': autostart},
- {'node_names': lifecycle_nodes}]),
+ {'node_names': lifecycle_nodes}],
+ remappings=remappings),
  Node(
  package='nav2_collision_monitor',
  executable='collision_monitor',
  output='screen',
  emulate_tty=True, # https://github.com/ros2/launch/issues/188
- parameters=[params_file])
+ parameters=[configured_params],
+ remappings=remappings)
  ]
  )
 
  load_composable_nodes = GroupAction(
  condition=IfCondition(use_composition),
  actions=[
  SetParameter('use_sim_time', use_sim_time),
+ PushRosNamespace(
+ condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('namespace'), '')),
+ namespace=namespace),
  LoadComposableNodes(
  target_container=container_name_full,
  composable_node_descriptions=[
@@ -101,12 +121,14 @@ def generate_launch_description():
  plugin='nav2_lifecycle_manager::LifecycleManager',
  name='lifecycle_manager_collision_monitor',
  parameters=[{'autostart': autostart},
- {'node_names': lifecycle_nodes}]),
+ {'node_names': lifecycle_nodes}],
+ remappings=remappings),
  ComposableNode(
  package='nav2_collision_monitor',
  plugin='nav2_collision_monitor::CollisionMonitor',
  name='collision_monitor',
- parameters=[params_file]),
+ parameters=[configured_params],
+ remappings=remappings)
  ],
  )
  ]

nav2_collision_monitor/params/collision_monitor_params.yaml

@@ -50,7 +50,7 @@ collision_monitor:
  observation_sources: ["scan"]
  scan:
  type: "scan"
- topic: "/scan"
+ topic: "scan"
  pointcloud:
  type: "pointcloud"
  topic: "/intel_realsense_r200_depth/points"