Hi

I am working with a multi robot scenario and I had a problem with the navigation stack because I like to use only one set of configuration files for all robots with separate name spaces for each robot.
Name spaces are working perfect to rename topics but some nodes have shared parameter to name a tf frame

I solved the problem by forking the navigation stack and I added a checks on these parameter like amcl: odom_frame_id, base_frame_id, global_frame_id to get the name space right.
Finally everything worked.

It would be nice now to get some feedback and to get my work pulled back into the original navigation stack. https://github.com/ros-planning/navigation/pull/178

My solution works but I find it better to introduce a shared parameter type for tf frames which solves the name space problem

The following launch file shows how I deal now with two robots :-)

Greetings

Markus

<launch>

<arg name="scan" value="front_laser/scan" />

   
<include file="$(find v4r_launch)/launch/map.launch">
     <arg name="room" value="gh25" />
     <arg name="env" value="sim" />
   </include>

   
<group ns="r1">
    <node pkg="amcl" type="amcl" name="amcl" output="screen">
      <remap from="scan" to="$(arg scan)"/>
      <remap from="map" to="/map"/>
      <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_filter.yaml" command="load"/>
      <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_laser_model.yaml" command="load"/>
      <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_motion_model.yaml" command="load"/>
    </node>
    <node pkg="move_base" type="move_base" name="move_base" output="screen">
      <remap from="scan" to="$(arg scan)"/>
      <remap from="map" to="/map"/>
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="global_costmap" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="local_costmap" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/global_costmap.yaml" command="load" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/local_costmap.yaml" command="load" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/base_local_planner.yaml" command="load" />
    </node>
</group>


<group ns="r2">
    <node pkg="amcl" type="amcl" name="amcl" output="screen">
      <remap from="scan" to="$(arg scan)"/>
      <remap from="map" to="/map"/>
      <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_filter.yaml" command="load"/>
      <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_laser_model.yaml" command="load"/>
      <rosparam file="$(find v4r_launch)/cfg/amcl/marry_real/amcl_motion_model.yaml" command="load"/>
    </node>
    <node pkg="move_base" type="move_base" name="move_base" output="screen">
      <remap from="scan" to="$(arg scan)"/>
      <remap from="map" to="/map"/>
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="global_costmap" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/common_costmap.yaml" command="load" ns="local_costmap" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/global_costmap.yaml" command="load" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/local_costmap.yaml" command="load" />
      <rosparam file="$(find v4r_launch)/cfg/move_base/bader3dx/base_local_planner.yaml" command="load" />
    </node>
</group>
</launch>

--

Dipl.-Ing. Dr.tech. Markus Bader

ACIN | AUTOMATION & CONTROL INSTITUTE
INSTITUT FÜR AUTOMATISIERUNGS- & REGELUNGSTECHNIK
TECHNISCHE UNIVERSITÄT WIEN
Gusshausstrasse 27-29 | 376. 1040 Wien
DVR-Nummer: 0005886
Tel. +43 (0)1 58801 - 376646
Skype: markus.bader.at.work
Fax. +43 (0)1 58801 - 37697
markus.bader@tuwien.ac.at | www.acin.tuwien.ac.at