Fixed namespacing

clearpath_launch_generator/clearpath_launch_generator/sensors.py

@@ -49,7 +49,6 @@ class BaseLaunch():
         TOPIC_NAMESPACE = 'platform/sensors/'
 
         # Launch arguments
-        NAME = 'name'
         PARAMETERS = 'parameters'
         NAMESPACE = 'namespace'
 
@@ -72,7 +71,6 @@ def __init__(self, sensor: BaseSensor, output_path: str = '/etc/clearpath/sensor
             self.sensor_parameters = sensor.get_ros_parameters()
 
             self.launch_args = {
-                self.NAME: self.get_name(),
                 self.PARAMETERS: self.sensor_parameters_file,
                 self.NAMESPACE: self.get_namespace()
             }
@@ -92,13 +90,15 @@ def copy_parameters(default_params: dict, params: dict) -> dict:
             return modified_params
 
         def generate_config(self):
-            name = self.get_name()
-            model = self.get_model()
-            default_parameters = self.default_sensor_parameters[model]['ros__parameters']
+            namespace = self.get_namespace()
+            node_key = list(self.default_sensor_parameters.keys())[0]
+            default_parameters = self.default_sensor_parameters[node_key]['ros__parameters']
 
             parameters = {
-              name: {
-                'ros__parameters': self.copy_parameters(default_parameters, self.sensor_parameters)
+              namespace: {
+                node_key: {
+                  'ros__parameters': self.copy_parameters(default_parameters, self.sensor_parameters)
+                }
               }
             }
 
@@ -155,22 +155,26 @@ def __init__(self, sensor: BaseSensor, output_path: str = '/etc/clearpath/sensor
             self.generate_config()
 
         def generate_config(self):
-            name = self.get_name()
-            model = self.get_model()
-            default_driver_parameters = self.default_sensor_parameters[model + '_driver']['ros__parameters']
-            default_pointcloud_parameters = self.default_sensor_parameters[model + '_pointcloud']['ros__parameters']
-            default_laserscan_parameters = self.default_sensor_parameters[model + '_laserscan']['ros__parameters']
+            namespace = self.get_namespace()
+            driver_key = 'velodyne_driver_node'
+            pointcloud_key = 'velodyne_convert_node'
+            laserscan_key = 'velodyne_laserscan_node'
+            default_driver_parameters = self.default_sensor_parameters[driver_key]['ros__parameters']
+            default_pointcloud_parameters = self.default_sensor_parameters[pointcloud_key]['ros__parameters']
+            default_laserscan_parameters = self.default_sensor_parameters[laserscan_key]['ros__parameters']
 
             parameters = {
-              name + '_driver': {
-                'ros__parameters': self.copy_parameters(default_driver_parameters, self.sensor_parameters)
-              },
-              name + '_pointcloud': {
-                'ros__parameters': self.copy_parameters(default_pointcloud_parameters, self.sensor_parameters)
-              },
-              name + '_laserscan': {
-                'ros__parameters': self.copy_parameters(default_laserscan_parameters, self.sensor_parameters)
-              },
+                namespace: {
+                  driver_key: {
+                    'ros__parameters': self.copy_parameters(default_driver_parameters, self.sensor_parameters)
+                  },
+                  pointcloud_key: {
+                    'ros__parameters': self.copy_parameters(default_pointcloud_parameters, self.sensor_parameters)
+                  },
+                  laserscan_key: {
+                    'ros__parameters': self.copy_parameters(default_laserscan_parameters, self.sensor_parameters)
+                  },
+                }
             }
 
             with open(self.sensor_parameters_file.get_full_path(), 'w+') as f:

clearpath_sensors/config/hokuyo_ust10.yaml

@@ -1,4 +1,4 @@
-hokuyo_ust10:
+urg_node:
   ros__parameters:
     angle_max: 3.14
     angle_min: -3.14

clearpath_sensors/config/intel_realsense.yaml

@@ -1,4 +1,4 @@
-intel_realsense:
+camera:
   ros__parameters:
     camera_name: camera
     serial_no: ''

clearpath_sensors/launch/hokuyo_ust10.launch.py

@@ -7,15 +7,12 @@
 
 
 def generate_launch_description():
-
-    name = LaunchConfiguration('name')
     parameters = LaunchConfiguration('parameters')
     namespace = LaunchConfiguration('namespace')
-    topic = LaunchConfiguration('topic')
 
-    arg_name = DeclareLaunchArgument(
-        'name',
-        default_value='hokuyo_ust10')
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='platform/sensors/lidar2d_0')
 
     arg_parameters = DeclareLaunchArgument(
         'parameters',
@@ -25,24 +22,16 @@ def generate_launch_description():
           'hokuyo_ust10.yaml'
         ]))
 
-    arg_topic = DeclareLaunchArgument(
-        'topic',
-        default_value=[namespace, '/scan'])
-
     urg_node = Node(
         package='urg_node',
-        name=name,
+        namespace=namespace,
         executable='urg_node_driver',
-        remappings=[
-          ('scan', topic),
-        ],
         parameters=[parameters],
         output='screen',
     )
 
     ld = LaunchDescription()
-    ld.add_action(arg_name)
+    ld.add_action(arg_namespace)
     ld.add_action(arg_parameters)
-    ld.add_action(arg_topic)
     ld.add_action(urg_node)
     return ld

clearpath_sensors/launch/intel_realsense.launch.py

@@ -7,14 +7,8 @@
 
 
 def generate_launch_description():
-
-    name = LaunchConfiguration('name')
     parameters = LaunchConfiguration('parameters')
-    topic = LaunchConfiguration('topic')
-
-    arg_name = DeclareLaunchArgument(
-        'name',
-        default_value='intel_realsense')
+    namespace = LaunchConfiguration('namespace')
 
     arg_parameters = DeclareLaunchArgument(
         'parameters',
@@ -24,21 +18,20 @@ def generate_launch_description():
           'intel_realsense.yaml'
         ]))
 
-    arg_topic = DeclareLaunchArgument(
-        'topic',
-        default_value='scan')
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='platform/sensors/camera_0')
 
     realsense2_camera_node = Node(
         package='realsense2_camera',
-        name=name,
+        namespace=namespace,
         executable='realsense2_camera_node',
         parameters=[parameters],
         output='screen',
     )
 
     ld = LaunchDescription()
-    ld.add_action(arg_name)
     ld.add_action(arg_parameters)
-    ld.add_action(arg_topic)
+    ld.add_action(arg_namespace)
     ld.add_action(realsense2_camera_node)
     return ld

clearpath_sensors/launch/velodyne_lidar.launch.py

@@ -6,30 +6,29 @@
 
 def generate_launch_description():
 
-    name = LaunchConfiguration('name')
+    namespace = LaunchConfiguration('namespace')
     parameters = LaunchConfiguration('parameters')
-    topic = LaunchConfiguration('topic')
 
     velodyne_driver_node = Node(
         package='velodyne_driver',
         executable='velodyne_driver_node',
-        name=[name, '_driver'],
+        namespace=namespace,
         parameters=[parameters],
         output='screen'
     )
 
     velodyne_pointcloud_node = Node(
         package='velodyne_pointcloud',
         executable='velodyne_convert_node',
-        name=[name, '_pointcloud'],
+        namespace=namespace,
         output='screen',
         parameters=[parameters]
     )
 
     velodyne_laserscan_node = Node(
         package='velodyne_laserscan',
         executable='velodyne_laserscan_node',
-        name=[name, '_laserscan'],
+        namespace=namespace,
         output='screen',
         parameters=[parameters]
     )