add extrinsic_tfstatic_broadcaster_no_namespace.launch.py

simulator/launch/gazebo_simulator_active_caster.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
     tf_static_publisher = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             osp.join(get_package_share_directory("vehicle"),
-                     "launch/extrinsic_tfstatic_broadcaster.launch.py"),
+                     "launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py"),
         ),
         launch_arguments={
             "vehicle_name": VEHICLE_NAME,

simulator/launch/gazebo_simulator_caster_trail.launch.py

@@ -40,7 +40,7 @@ def generate_launch_description():
     tf_static_publisher = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             osp.join(get_package_share_directory("vehicle"),
-                     "launch/extrinsic_tfstatic_broadcaster.launch.py"),
+                     "launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py"),
         ),
         launch_arguments={
             "vehicle_name": VEHICLE_NAME,

vehicle/launch/extrinsic_tfstatic_broadcaster.launch.py

@@ -28,7 +28,7 @@ def get_robot_state_publisher(
             package="robot_state_publisher",
             executable="robot_state_publisher",
             name="robot_state_publisher",
-            #namespace="/aiformula_sensing",
+            namespace="/aiformula_sensing",
             parameters=[{
                 "robot_description": robot_description,
                 "use_sim_time": use_sim_time_lc,

vehicle/launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py

@@ -0,0 +1,108 @@
+import os.path as osp
+from typing import Tuple
+from launch import LaunchDescription, LaunchContext
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+from ament_index_python.packages import get_package_share_directory
+from vehicle.vehicle_util import convert_xacro_to_urdf
+
+
+def get_robot_state_publisher(
+    context: LaunchContext,
+    vehicle_name_lc: LaunchConfiguration,
+    use_sim_time_lc: LaunchConfiguration
+) -> Tuple[Node]:
+    vehicle_name = context.perform_substitution(vehicle_name_lc)
+    xacro_path = osp.join(get_package_share_directory("vehicle"),
+                          "xacro", vehicle_name + ".xacro")
+    urdf_path = osp.join(get_package_share_directory("vehicle"),
+                         "xacro", vehicle_name + ".urdf")
+    convert_xacro_to_urdf(xacro_path, urdf_path)
+    with open(urdf_path, 'r') as infp:
+        robot_description = infp.read()
+
+    return (
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            name="robot_state_publisher",
+            #namespace="/aiformula_sensing",
+            parameters=[{
+                "robot_description": robot_description,
+                "use_sim_time": use_sim_time_lc,
+            }],
+            arguments=["--ros-args", "--log-level", "WARN"],  # No output
+        ),
+    )
+
+
+def get_joint_state_publisher(
+    context: LaunchContext,
+    use_joint_state_publisher_lc: LaunchConfiguration,
+    use_gui_lc: LaunchConfiguration,
+    use_sim_time_lc: LaunchConfiguration
+) -> Tuple[Node]:
+    use_gui = context.perform_substitution(use_gui_lc).lower() == "true"
+    node_name = "joint_state_publisher_gui" if use_gui else "joint_state_publisher"
+    return (
+        Node(
+            package=node_name,
+            executable=node_name,
+            name=node_name,
+            #namespace="/aiformula_sensing",
+            parameters=[{
+                "use_sim_time": use_sim_time_lc,
+            }],
+            arguments=["--ros-args", "--log-level", "WARN"],  # No output
+            condition=IfCondition(use_joint_state_publisher_lc),
+        ),
+    )
+
+
+def generate_launch_description():
+    launch_args = (
+        DeclareLaunchArgument(
+            "vehicle_name",
+            default_value="ai_car1",
+            description="Vehicle Name",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="false",
+            description="If true, use simulation (Gazebo) clock",
+        ),
+        DeclareLaunchArgument(
+            "use_joint_state_publisher",
+            default_value="true",
+            description="If true, use joint_state_publisher",
+        ),
+        DeclareLaunchArgument(
+            "use_gui",
+            default_value="false",
+            description="If true, use joint_state_publisher_gui",
+        ),
+    )
+
+    robot_state_publisher = OpaqueFunction(
+        function=get_robot_state_publisher,
+        args=[
+            LaunchConfiguration("vehicle_name"),
+            LaunchConfiguration("use_sim_time"),
+        ],
+    )
+    joint_state_publisher = OpaqueFunction(
+        function=get_joint_state_publisher,
+        args=[
+            LaunchConfiguration("use_joint_state_publisher"),
+            LaunchConfiguration("use_gui"),
+            LaunchConfiguration("use_sim_time"),
+        ],
+    )
+
+    return LaunchDescription([
+        *launch_args,
+        robot_state_publisher,
+        joint_state_publisher,
+    ])