Remove remaining usage of use_namespace parameter

Signed-off-by: Luca Della Vedova <[email protected]>

nav2_bringup/launch/bringup_launch.py

@@ -29,7 +29,7 @@
 from launch_ros.actions import Node
 from launch_ros.actions import PushROSNamespace
 from launch_ros.descriptions import ParameterFile
-from nav2_common.launch import ReplaceString, RewrittenYaml
+from nav2_common.launch import RewrittenYaml
 
 
 def generate_launch_description():
@@ -39,7 +39,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     slam = LaunchConfiguration('slam')
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
@@ -58,16 +57,6 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
-    # Only it applys when `use_namespace` is True.
-    # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
-    # in config file 'nav2_multirobot_params.yaml' as a default & example.
-    # User defined config file should contain '<robot_namespace>' keyword for the replacements.
-    params_file = ReplaceString(
-        source_file=params_file,
-        replacements={'<robot_namespace>': ('/', namespace)},
-        condition=IfCondition(use_namespace),
-    )
-
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,
@@ -86,12 +75,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_slam_cmd = DeclareLaunchArgument(
         'slam', default_value='False', description='Whether run a SLAM'
     )
@@ -142,7 +125,7 @@ def generate_launch_description():
     # Specify the actions
     bringup_cmd_group = GroupAction(
         [
-            PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace),
+            PushROSNamespace(namespace),
             Node(
                 condition=IfCondition(use_composition),
                 name='nav2_container',
@@ -207,7 +190,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -144,7 +144,6 @@ def generate_launch_description():
                     condition=IfCondition(use_rviz),
                     launch_arguments={
                         'namespace': TextSubstitution(text=robot_name),
-                        'use_namespace': 'True',
                         'rviz_config': rviz_config_file,
                     }.items(),
                 ),
@@ -154,7 +153,6 @@ def generate_launch_description():
                     ),
                     launch_arguments={
                         'namespace': robot_name,
-                        'use_namespace': 'True',
                         'map': map_yaml_file,
                         'use_sim_time': 'True',
                         'params_file': params_file,

nav2_bringup/launch/tb3_loopback_simulation.launch.py

@@ -42,7 +42,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     params_file = LaunchConfiguration('params_file')
     autostart = LaunchConfiguration('autostart')
@@ -61,12 +60,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
         default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
@@ -134,7 +127,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': 'True',
             'rviz_config': rviz_config_file,
         }.items(),
@@ -144,7 +136,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'map': map_yaml_file,
             'use_sim_time': 'True',
             'params_file': params_file,
@@ -203,7 +194,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_params_file_cmd)
     ld.add_action(declare_autostart_cmd)

nav2_bringup/launch/tb3_simulation_launch.py

@@ -44,7 +44,6 @@ def generate_launch_description():
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
@@ -77,12 +76,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_slam_cmd = DeclareLaunchArgument(
         'slam', default_value='False', description='Whether run a SLAM'
     )
@@ -186,7 +179,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': use_sim_time,
             'rviz_config': rviz_config_file,
         }.items(),
@@ -196,7 +188,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'slam': slam,
             'map': map_yaml_file,
             'use_sim_time': use_sim_time,
@@ -255,7 +246,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)

nav2_bringup/launch/tb4_loopback_simulation.launch.py

@@ -42,7 +42,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     params_file = LaunchConfiguration('params_file')
     autostart = LaunchConfiguration('autostart')
@@ -61,12 +60,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
         default_value=os.path.join(bringup_dir, 'maps', 'depot.yaml'),  # Try warehouse.yaml!
@@ -132,7 +125,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': 'True',
             'rviz_config': rviz_config_file,
         }.items(),
@@ -142,7 +134,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'map': map_yaml_file,
             'use_sim_time': 'True',
             'params_file': params_file,
@@ -210,7 +201,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_params_file_cmd)
     ld.add_action(declare_autostart_cmd)

nav2_bringup/launch/tb4_simulation_launch.py

@@ -48,7 +48,6 @@ def generate_launch_description():
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
@@ -81,12 +80,6 @@ def generate_launch_description():
         'namespace', default_value='', description='Top-level namespace'
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_slam_cmd = DeclareLaunchArgument(
         'slam', default_value='False', description='Whether run a SLAM'
     )
@@ -187,7 +180,6 @@ def generate_launch_description():
         condition=IfCondition(use_rviz),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'use_sim_time': use_sim_time,
             'rviz_config': rviz_config_file,
         }.items(),
@@ -197,7 +189,6 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
         launch_arguments={
             'namespace': namespace,
-            'use_namespace': use_namespace,
             'slam': slam,
             'map': map_yaml_file,
             'use_sim_time': use_sim_time,
@@ -261,7 +252,6 @@ def generate_launch_description():
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_use_sim_time_cmd)

nav2_bringup/launch/unique_multi_tb3_simulation_launch.py

@@ -162,7 +162,6 @@ def generate_launch_description():
                     condition=IfCondition(use_rviz),
                     launch_arguments={
                         'namespace': TextSubstitution(text=robot['name']),
-                        'use_namespace': 'True',
                         'rviz_config': rviz_config_file,
                     }.items(),
                 ),
@@ -172,7 +171,6 @@ def generate_launch_description():
                     ),
                     launch_arguments={
                         'namespace': robot['name'],
-                        'use_namespace': 'True',
                         'map': map_yaml_file,
                         'use_sim_time': 'True',
                         'params_file': params_file,

nav2_simple_commander/launch/assisted_teleop_example_launch.py

@@ -114,7 +114,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/follow_path_example_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/inspection_demo_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/nav_through_poses_example_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/nav_to_pose_example_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/picking_demo_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/recoveries_example_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/security_demo_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_simple_commander/launch/waypoint_follower_example_launch.py

@@ -113,7 +113,7 @@ def generate_launch_description():
             os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')
         ),
         condition=IfCondition(use_rviz),
-        launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(),
+        launch_arguments={'namespace': ''}.items(),
     )
 
     # start navigation

nav2_system_tests/src/costmap_filters/test_keepout_launch.py

@@ -152,7 +152,6 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     'namespace': '',
-                    'use_namespace': 'False',
                     'map': map_yaml_file,
                     'use_sim_time': 'True',
                     'params_file': new_yaml,

nav2_system_tests/src/costmap_filters/test_speed_launch.py

@@ -150,7 +150,6 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     'namespace': '',
-                    'use_namespace': 'False',
                     'map': map_yaml_file,
                     'use_sim_time': 'True',
                     'params_file': new_yaml,

nav2_system_tests/src/gps_navigation/test_case_py.launch.py

@@ -102,7 +102,6 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     'namespace': '',
-                    'use_namespace': 'False',
                     'use_sim_time': 'True',
                     'params_file': configured_params,
                     'use_composition': 'False',

nav2_system_tests/src/system/test_system_launch.py

@@ -129,7 +129,6 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     'namespace': '',
-                    'use_namespace': 'False',
                     'map': map_yaml_file,
                     'use_sim_time': 'True',
                     'params_file': new_yaml,

nav2_system_tests/src/system/test_system_with_obstacle_launch.py

@@ -142,7 +142,6 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     'namespace': '',
-                    'use_namespace': 'False',
                     'map': map_yaml_file,
                     'use_sim_time': 'True',
                     'params_file': new_yaml,