Draft: Namespace Support #189

sp-sophia-labs · 2022-11-04T14:36:12Z

Description

The goal of this PR is to enable namespacing of the create3 robot to be able to spawn multiple instances in the same simulation space without resorting to isolated networks

This PR is a reboot of this one: #176. Sorry for the duplicate.
@hugo-tardiou has transitioned out of our team and I am taking over the project. Since the previous PR was linked to his personnal account, we are creating a new one here so that we can continue to update it correctly. We'll do our best to summarize past discussions in the checklist below

Type of change: new feature. This change does not fix any open issue

How has this been tested?

We have created a project with dependencies pointing to specific commits (submodules) here: https://github.com/sp-sophia-labs/turtlebot4_multi_sim (details in the dependency section below). Reviewers may clone the project and replicate exactly what we use for testing. You can follow the readme from the project or use the following:

Launch the world and the first create3 instance:
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py namespace:=robot_0 robot_name:=robot_zero

Alternatively, launching the robot without namespaces is still available:
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py

In a separate terminal, spawn another create3 instance with different name, namespace and pose:
ros2 launch irobot_create_ignition_bringup create3_spawn.launch.py namespace:=robot_1 robot_name:=robot_one y:=1
You can change the x, y, z param to spawn the robot where needed

Once the gazebo simulation has started, you can modify the Create3 HMI field to reflect on the new robot name. It defaults to "create3"
This will correctly map the Create3 simulated button to one of your robots

Dependencies

We have modified other packages outside of create3_sim to be able to spawn multiple create3 in simulation with namespacing. Here is the list with a short description of the reasons for the changes:

rclcpp ros2/rclcpp@81d6f89, no official release yet
gz_ros2_control (open on galactic, waiting for approval after first review)
https://github.com/sp-sophia-labs/gz_ros2_control/tree/feat/create3_namespace
Preventing multi-context issues when spawning multiple robots. PR: Context and Namespace Handling for Multi-Robot Sim ros-controls/gz_ros2_control#92
ros2_control merged on master, waiting for back-port on galactic)
https://github.com/sp-sophia-labs/ros2_control/tree/feat/create3_namespace
Preventing nodes spawning with the same names when using namespaces. PR: Namespace Loaded Controllers ros-controls/ros2_control#852
ros2_controllers (merged on master, waiting for back-port on galactic)
https://github.com/sp-sophia-labs/ros2_controllers/tree/feat/create3_namespace
diff_drive_controller namespaces for odom topic and frame. PR: Odom Topic & Frame Namespaces ros-controls/ros2_controllers#461 (pull request is on master as requested by maintainer, it will be back-ported to galactic)

We'll update the dependencies above according to how the other PRs are progressing

Checklist

Create PR for dependencies and update this description
Remove rclcpp dependency (wildcard support has been backported to galactic)
Test namespacing on Gazebo classic (will probably require some work)
Create dedicated file for the OffsetParser utility
Evaluate if "robot_name"(ignition/gazebo name) should be the same as the namespace
Find a more elegant solution to the duplicate namespace entries in launch files
Remove error messages (non-breaking) from scene_manager when spawning additional robots

Signed-off-by: Alberto Soragna <[email protected]>

…lable via rosdep (iRobotEducation#173) Signed-off-by: Alberto Soragna <[email protected]>

…eleased (iRobotEducation#183) Signed-off-by: Alberto Soragna <[email protected]>

unified robot spawn file and clean up xacro fix revert change in config files offset_parser module moved to irobot_create_common_bringup gazebo spawner launch offset parser separate pkg OffsetParser in irobot_create_common_bringup Lint / testing / cleaning linting more small fixes to namespaces arguments Signed-off-by: Alberto Soragna <[email protected]> remove not needed rclcpp and rclpy dependencies Signed-off-by: Alberto Soragna <[email protected]> rviz namespace fix for robot description dock and cmd_vel gui namespaced lint import order namespace create3_nodes fix robot_description in rviz

…space

…ation in rclcpp

…_truth_dock_pose

irobot_create_common/irobot_create_common_bringup/package.xml

irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro

alsora · 2022-12-05T16:02:46Z

irobot_create_common/irobot_create_description/urdf/dock/standard_dock.urdf.xacro

@@ -5,6 +5,7 @@

  <!-- Gazebo version -->
  <xacro:arg name="gazebo"         default="classic" />
+  <xacro:arg name="namespace" default=""/>


you replaced

<namespace>/</namespace>

with

<namespace>$(arg namespace)</namespace>

should the default namespace be / ?
your change seems correct to me, but I want to double check that we are not breaking existing functionalities

irobot_create_ignition/irobot_create_ignition_bringup/launch/create3_ignition.launch.py

irobot_create_ignition/irobot_create_ignition_bringup/worlds/empty.sdf

alsora · 2022-12-05T16:06:16Z

irobot_create_ignition/irobot_create_ignition_plugins/Create3Hmi/Create3Hmi.hh

 private:
  ignition::transport::Node node_;
  ignition::transport::Node::Publisher create3_button_pub_;
-  std::string create3_button_topic_ = "/create3/buttons";
+  std::string robot_name_ = "create3";
+  std::string create3_button_topic_ = "/model/create3/buttons";


why is this topic changed?

@alsora I believe this was an attempt on my part to standardize topic names on the ign side. Looking at it now, I would probably change it to /gui/create3/buttons instead... What do you think? I can revert it to previous naming

/clock /cmd_vel /gazebo/resource_paths /gui/camera/pose /gui/record_video/stats */create3/buttons -> /model/create3/buttons* /model/create3/cmd_vel /model/create3/pose /model/create3_standard_dock/pose /stats /world/depot/clock /world/depot/dynamic_pose/info /world/depot/model/create3/link/base_link/sensor/cliff_front_left/scan /world/depot/model/create3/link/base_link/sensor/cliff_front_left/scan/points ...

alsora · 2022-12-05T16:08:06Z

Hi, I gave a quick look at the PR and besides some comments it looks good to me.
We will need to test it thoroughly though.

sp-sophia-labs · 2022-12-05T17:59:25Z

@alsora Thank you for the review! I agree, it's a big one. Happy to lend a hand on the testing if it needs implementation. I'm still waiting for my changes to be merged to gz_ros2_control, and back-ported to galactic before we can test it properly. Don't hesitate to try this: https://github.com/sp-sophia-labs/turtlebot4_multi_sim in the meanwhile

alsora and others added 30 commits November 4, 2022 11:20

set ign_ros2_control minimum version

4e060c5

Signed-off-by: Alberto Soragna <[email protected]>

remove minimum version requirement

3e98b7e

Signed-off-by: Alberto Soragna <[email protected]>

update changelog

a291e51

Signed-off-by: Alberto Soragna <[email protected]>

1.0.2

ebfc5a4

update changelog

5b65541

1.0.3

88458bd

remove ignition-ros2-control from dependencies.repos this is now avai…

69030ef

…lable via rosdep (iRobotEducation#173) Signed-off-by: Alberto Soragna <[email protected]>

remove dependencies.repos file now that irobot_create_msgs has been r…

0327e8b

…eleased (iRobotEducation#183) Signed-off-by: Alberto Soragna <[email protected]>

nav2 dependency, lint and rebase

64d4fac

working two robot velocity cmd with cmd_vel_unstamped

4ae8550

cmd_vel working for both no namespace, namespace and multi-robot name…

c33245f

…space

fixing frame prefixing and odom topic

632c882

17/08/2022

9507e1d

clean up

164b16f

fixing namespaced parameters following wildcard implementation in rclcpp

2ca8428

commit 2 of fixing namespaced parameters following wildcard implement…

3418f97

…ation in rclcpp

control config file fix

08ac8d4

removing useless namespace options

3dfcf82

fixing cmd_vel typo

1b9d321

adding an empty world for low GPU machines

9394b89

fixing ir_intensity double namespacing

edcbeea

remove duplicated code and move namespacing to config files

d579b85

-internal namespacing WIP

6e60d56

hotfix bumper_contact namespacing

2a3bb3f

small cleanup all topic are namespaced correctly

24bc1d2

fix bridge between /model/standard_dock/pose and _internal/sim_ground…

592bbf1

…_truth_dock_pose

fix sim_ground_truth_dock_pose republishing

a602cf3

fix is_docked and cleanup buttons topics

a5a58bd

remove problematic light from empty world

86b15f9

sp-sophia-labs and others added 10 commits November 4, 2022 11:20

textinput for create3 buttons

c4c038d

create3 ign gui topic selection

1b3fba2

default HMi topic to /buttons and fix ignition bridge accordingly

b04e182

cleanup unsused imports

113593d

change namespace to robot name in button topic naming

e0d225c

small cleanup & added yaw argument to spawn_robot

f0ffe71

fix bumper contact bridge namespacing

c198329

rebase on galactic and lint test passing

916ada6

reverting some rebase changes on non-code files

229a2d5

removing useless changes to cleanup PR

308840e

sp-sophia-labs requested review from alsora and justinIRBT as code owners November 4, 2022 14:36

fixing import order for flake8 testing

ca0236d

sp-sophia-labs mentioned this pull request Nov 29, 2022

Draft: Namespace Support turtlebot/turtlebot4_simulator#29

Closed

5 tasks

sp-sophia-labs marked this pull request as draft December 5, 2022 14:16

sp-sophia-labs changed the title ~~Namespace Support~~ Draft: Namespace Support Dec 5, 2022

remapping /tf to tf

f3aa5e9