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updated: added multi-robot scalability with dynamic namespaces. #56

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updated: added multi-robot scalability with dynamic namespaces. #56

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43f0bc2
namespace arguement declared
ThatGuySoham Apr 24, 2026
5c907df
spawner node name fix
ThatGuySoham Apr 24, 2026
3c83195
Inject namespace into robot_state_publisher topics
ThatGuySoham Apr 24, 2026
914128b
topics remapping
ThatGuySoham Apr 24, 2026
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75 changes: 37 additions & 38 deletions launch/bcr_bot_gz_spawn.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,9 @@ def get_xacro_to_doc(xacro_file_path, mappings):
return doc

def generate_launch_description():


namespace = LaunchConfiguration("namespace", default="")

bcr_bot_path = get_package_share_directory("bcr_bot")
position_x = LaunchConfiguration("position_x")
position_y = LaunchConfiguration("position_y")
Expand All @@ -27,39 +29,33 @@ def generate_launch_description():
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
odometry_source = LaunchConfiguration("odometry_source")

# robot_description_content = get_xacro_to_doc(
# join(bcr_bot_path, "urdf", "bcr_bot.xacro"),
# {"sim_gz": "true",
# "two_d_lidar_enabled": "true",
# "conveyor_enabled": "false",
# "camera_enabled": "true"
# }
# ).toxml()

robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
parameters=[
{'robot_description': Command( \
['xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'),
' camera_enabled:=', camera_enabled,
' stereo_camera_enabled:=', stereo_camera_enabled,
' two_d_lidar_enabled:=', two_d_lidar_enabled,
' odometry_source:=', odometry_source,
' sim_gz:=', "true"
])}],
namespace=namespace,
parameters=[{
'robot_description': Command([
'xacro ', join(bcr_bot_path, 'urdf/bcr_bot.xacro'),
' camera_enabled:=', camera_enabled,
' stereo_camera_enabled:=', stereo_camera_enabled,
' two_d_lidar_enabled:=', two_d_lidar_enabled,
' odometry_source:=', odometry_source,
' sim_gz:=', "true"
]),
'frame_prefix': [namespace, '/']
}],
remappings=[
('/joint_states', 'bcr_bot/joint_states'),
('/joint_states', [namespace, '/joint_states']),
]
)

gz_spawn_entity = Node(
package="ros_gz_sim",
executable="create",
arguments=[
"-topic", "/robot_description",
"-name", "bcr_bot",
"-topic", ["/", namespace, "/robot_description"],
"-name", namespace,
"-allow_renaming", "true",
"-z", "0.28",
"-x", position_x,
Expand All @@ -85,21 +81,21 @@ def generate_launch_description():
"stereo_camera/right/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
"/kinect_camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
"/imu@sensor_msgs/msg/Imu[gz.msgs.IMU",
"/world/default/model/bcr_bot/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model"
["/world/default/model/", namespace, "/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model"]
],
remappings=[
('/world/default/model/bcr_bot/joint_state', 'bcr_bot/joint_states'),
('/odom', 'bcr_bot/odom'),
('/scan', 'bcr_bot/scan'),
('/kinect_camera', 'bcr_bot/kinect_camera'),
('/stereo_camera/left/image_raw', 'bcr_bot/stereo_camera/left/image_raw'),
('/stereo_camera/right/image_raw', 'bcr_bot/stereo_camera/right/image_raw'),
('/imu', 'bcr_bot/imu'),
('/cmd_vel', 'bcr_bot/cmd_vel'),
('kinect_camera/camera_info', 'bcr_bot/kinect_camera/camera_info'),
('stereo_camera/left/camera_info', 'bcr_bot/stereo_camera/left/camera_info'),
('stereo_camera/right/camera_info', 'bcr_bot/stereo_camera/right/camera_info'),
('/kinect_camera/points', 'bcr_bot/kinect_camera/points'),
(['/world/default/model/', namespace, '/joint_state'], [namespace, '/joint_states']),
('/odom', [namespace, '/odom']),
('/scan', [namespace, '/scan']),
('/kinect_camera', [namespace, '/kinect_camera']),
('/stereo_camera/left/image_raw', [namespace, '/stereo_camera/left/image_raw']),
('/stereo_camera/right/image_raw', [namespace, '/stereo_camera/right/image_raw']),
('/imu', [namespace, '/imu']),
('/cmd_vel', [namespace, '/cmd_vel']),
('kinect_camera/camera_info', [namespace, '/kinect_camera/camera_info']),
('stereo_camera/left/camera_info', [namespace, '/stereo_camera/left/camera_info']),
('stereo_camera/right/camera_info', [namespace, '/stereo_camera/right/camera_info']),
('/kinect_camera/points', [namespace, '/kinect_camera/points']),
]
)

Expand All @@ -113,7 +109,7 @@ def generate_launch_description():
"--pitch", "0.0",
"--roll", "0.0",
"--frame-id", "kinect_camera",
"--child-frame-id", "bcr_bot/base_footprint/kinect_camera"]
"--child-frame-id", [namespace, "/base_footprint/kinect_camera"]]
)

return LaunchDescription([
Expand All @@ -125,5 +121,8 @@ def generate_launch_description():
DeclareLaunchArgument("orientation_yaw", default_value="0.0"),
DeclareLaunchArgument("odometry_source", default_value="world"),
robot_state_publisher,
gz_spawn_entity, transform_publisher, gz_ros2_bridge
])
gz_spawn_entity,
transform_publisher,
gz_ros2_bridge,
DeclareLaunchArgument("namespace", default_value=namespace, description="Robot namespace"),
])