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Fix namespacing for multiple instances of gazebo_ros2_control plugin #181

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merged 13 commits into from
Dec 23, 2024
+491 −14
Merged

Fix namespacing for multiple instances of gazebo_ros2_control plugin #181

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a18aeb6
Remove namespace tags from from the node arguments to fix the namespa…
Feb 24, 2023
aca98cf
Added Multiple Namespaces section to README
bobbleballs Feb 24, 2023
7af5e27
Merge branch 'master' into namespace_issue
christophfroehlich Mar 5, 2024
4963414
Fix rst syntax
christophfroehlich Mar 5, 2024
0432e15
Merge branch 'master' into namespace_issue
bobbleballs Mar 7, 2024
4eebefd
Merge branch 'master' into namespace_issue
christophfroehlich Jul 18, 2024
2b08e49
Apply suggestions from code review
christophfroehlich Dec 21, 2024
8428c64
Merge branch 'master' into namespace_issue
christophfroehlich Dec 21, 2024
785b485
Add namespaced example
christophfroehlich Dec 21, 2024
8efe9a2
Add a launch file which spawns two robots
christophfroehlich Dec 21, 2024
c6a2b83
Add documentation
christophfroehlich Dec 21, 2024
fbf414e
Satisfy flake8
christophfroehlich Dec 21, 2024
36ea820
Change to single quotes
christophfroehlich Dec 22, 2024
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14 changes: 0 additions & 14 deletions gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,24 +204,10 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element

if (sdf->HasElement("ros")) {
sdf = sdf->GetElement("ros");

// Set namespace if tag is present
if (sdf->HasElement("namespace")) {
std::string ns = sdf->GetElement("namespace")->Get<std::string>();
// prevent exception: namespace must be absolute, it must lead with a '/'
if (ns.empty() || ns[0] != '/') {
ns = '/' + ns;
}
std::string ns_arg = std::string("__ns:=") + ns;
arguments.push_back(RCL_REMAP_FLAG);
arguments.push_back(ns_arg);
}

// Get list of remapping rules from SDF
if (sdf->HasElement("remapping")) {
sdf::ElementPtr argument_sdf = sdf->GetElement("remapping");

arguments.push_back(RCL_ROS_ARGS_FLAG);
while (argument_sdf) {
std::string argument = argument_sdf->Get<std::string>();
arguments.push_back(RCL_REMAP_FLAG);
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