From 7056aa354986b28eaf75decd96554e55808ef9c9 Mon Sep 17 00:00:00 2001 From: Gerry Salinas Date: Tue, 19 Mar 2024 21:58:40 +0000 Subject: [PATCH] Add node on namespaces. --- canopen_tests/ROS_NAMESPACES.md | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 canopen_tests/ROS_NAMESPACES.md diff --git a/canopen_tests/ROS_NAMESPACES.md b/canopen_tests/ROS_NAMESPACES.md new file mode 100644 index 00000000..16eda87b --- /dev/null +++ b/canopen_tests/ROS_NAMESPACES.md @@ -0,0 +1,11 @@ +The `cia402_namespaced_system.launch.py` example demonstrates how to run a +CIA402 system in a namespace to allow multiple CANOpen-based robots in the +same ROS domain. This example is neccessary because the controller names +are picked up from `ros2_controllers.yaml` and we must define their names +in that file with a `__namespace__/controller_name:` key, then use +ReplaceString from `nav2_common` to dynamically add the namespace to the +controller definition. + +For a proxy system, no example is included; it's sufficient to include, e.g. +the `proxy_setup.launch.py` launch description in another launch file and +push a namespace onto it with PushROSNamespace in the ordinary way. \ No newline at end of file