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Enabling non-namespace use of Gazebo robot #187

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Closed

Enabling non-namespace use of Gazebo robot #187

wants to merge 4 commits into from

Commits on Nov 8, 2021

  1. Add 'ns' argument to allow specifying the robotNamespace for Gazebo 

    The robotNamespace is conceptually different from arm_id.
While the latter just acts as a name prefix for links and joints,
the <robotNamespace> tag specifies the name of the ROS namespace, which is used
for key robot components like the joint_states topic, the controller_manager, etc.

To allow for an empty namespace, the default needs to be specified as empty.
Otherwise, i.e. having a non-empty default, specifying ns:="" on the commandline
will fall back to the default despite an (empty) value was provided.
    @rhaschke
    rhaschke committed Nov 8, 2021
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  2. Allow starting the Gazebo robot w/ and w/o a namespace. 

    By default, we don't start in a namespace to match the real-robot behavior.
Unfortunately, we cannot just specify an empty ns="" in roslaunch, but we
need to distinguish the two cases empty/non-empty namespace.
To avoid code duplication, the relevant code was factored out into panda_ns.launch.xml,
which is include w/ or w/o a namespace.
The file-ending is deliberatively choosen as .launch.xml to hide the file from bash completion.
    @rhaschke
    rhaschke committed Nov 8, 2021
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  3. Use arm_id prefix for all nodes

    @rhaschke
    rhaschke committed Nov 8, 2021
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  4. Avoid redundancy in node naming 

    Instead of arm_id/arm_id_xxx use arm_id/xxx
    @rhaschke
    rhaschke committed Nov 8, 2021
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