Launch individual vehicle name #672
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When trying to launch a second vessel with the name wamv2, the following error message was shown "[ERROR] [launch]: Caught exception in launch (see debug for traceback): Error Code 20: Msg: Child frame with name[wamv/base_link] specified by joint with name[wamv_external_pivot_joint] not found in model with name[WAM-V]" The problem was found in line 103 of the wamv_gazebo.urdf.xacro file, in which the namespace was not properly referenced to the namespace but only to the standard topic namespace of "wamv/base_link". As a result without changing the child to "$(arg namespace)/base_link, it is not possible to spawn a second vehicle with a different namespace. Therefor, without the change, it would not be possible to control the vessels independent of each other, as both subscribe to the same topic.
Added the option to change the name and type of the launched vessel. Defaults to name:=wamv and type:=wam-v can be called by 'ros2 launch vrx_gz competition.launch.py world:=sydney_regatta name:=custom_name model:=custom_model_type
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After PR #644, this modification in the file competition.launch.py offers the user the possibility to specify a custom name and type for the vessel. (Compare spawn.launch.py file).
It can be specified by adding the
name:=andmodel:=argument when launching the vrx world. The name defaults to "wamv" while the type defaults to "wam-v".The changes are based on PR #644, which has been tested by @j-herman. The new modifications have been tested with Ubuntu-22.04 and ros2 humble.