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Remove manual namespace substitution
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Signed-off-by: Luca Della Vedova <[email protected]>
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luca-della-vedova committed Oct 9, 2024
1 parent 49563c7 commit 56e691d
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Showing 3 changed files with 17 additions and 17 deletions.
2 changes: 1 addition & 1 deletion nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ def generate_launch_description():
declare_params_file_cmd = DeclareLaunchArgument(
'params_file',
default_value=os.path.join(
bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'
bringup_dir, 'params', 'nav2_params.yaml'
),
description='Full path to the ROS2 parameters file to use for all launched nodes',
)
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4 changes: 2 additions & 2 deletions nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -99,15 +99,15 @@ def generate_launch_description():
declare_robot1_params_file_cmd = DeclareLaunchArgument(
'robot1_params_file',
default_value=os.path.join(
bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'
bringup_dir, 'params', 'nav2_params.yaml'
),
description='Full path to the ROS2 parameters file to use for robot1 launched nodes',
)

declare_robot2_params_file_cmd = DeclareLaunchArgument(
'robot2_params_file',
default_value=os.path.join(
bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'
bringup_dir, 'params', 'nav2_params.yaml'
),
description='Full path to the ROS2 parameters file to use for robot2 launched nodes',
)
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28 changes: 14 additions & 14 deletions nav2_bringup/rviz/nav2_namespaced_view.rviz
Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/robot_description
Value: robot_description
Enabled: false
Links:
All Links Enabled: true
Expand Down Expand Up @@ -112,7 +112,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: <robot_namespace>/scan
Value: scan
Use Fixed Frame: true
Use rainbow: true
Value: true
Expand Down Expand Up @@ -145,7 +145,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: <robot_namespace>/mobile_base/sensors/bumper_pointcloud
Value: mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Expand All @@ -160,7 +160,7 @@ Visualization Manager:
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/map
Value: map
Use Timestamp: false
Value: true
- Alpha: 1
Expand All @@ -176,7 +176,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: <robot_namespace>/particle_cloud
Value: particle_cloud
Value: true
- Class: rviz_common/Group
Displays:
Expand All @@ -191,7 +191,7 @@ Visualization Manager:
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/global_costmap/costmap
Value: global_costmap/costmap
Use Timestamp: false
Value: true
- Alpha: 1
Expand Down Expand Up @@ -219,7 +219,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/plan
Value: plan
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Expand All @@ -231,7 +231,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/global_costmap/published_footprint
Value: global_costmap/published_footprint
Value: false
Enabled: true
Name: Global Planner
Expand All @@ -248,7 +248,7 @@ Visualization Manager:
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/local_costmap/costmap
Value: local_costmap/costmap
Use Timestamp: false
Value: true
- Alpha: 1
Expand Down Expand Up @@ -276,7 +276,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/local_plan
Value: local_plan
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Expand All @@ -288,7 +288,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/marker
Value: marker
Value: false
- Alpha: 1
Class: rviz_default_plugins/Polygon
Expand All @@ -300,7 +300,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/local_costmap/published_footprint
Value: local_costmap/published_footprint
Value: true
Enabled: true
Name: Controller
Expand All @@ -314,7 +314,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/waypoints
Value: waypoints
Value: true
Enabled: true
Global Options:
Expand All @@ -334,7 +334,7 @@ Visualization Manager:
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: <robot_namespace>/initialpose
Value: initialpose
- Class: nav2_rviz_plugins/GoalTool
Transformation:
Current:
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