Address review feedback

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

nav2_bringup/params/nav2_params.yaml

@@ -211,6 +211,12 @@ local_costmap:
         mark_threshold: 0
         observation_sources: scan
         scan:
+          # A relative topic will be appended to the parent of the local_costmap namespace.
+          # For example:
+          #   * User chosen namespace is `tb4`.
+          #   * User chosen topic is `scan`.
+          #   * Topic will be remapped to `/tb4/scan` without `local_costmap`.
+          #   * Use global topic `/scan` if you do not wish the node namespace to apply
           topic: scan
           max_obstacle_height: 2.0
           clearing: True
@@ -241,6 +247,12 @@ global_costmap:
         enabled: True
         observation_sources: scan
         scan:
+          # A relative topic will be appended to the parent of the global_costmap namespace.
+          # For example:
+          #   * User chosen namespace is `tb4`.
+          #   * User chosen topic is `scan`.
+          #   * Topic will be remapped to `/tb4/scan` without `global_costmap`.
+          #   * Use global topic `/scan` if you do not wish the node namespace to apply
           topic: scan
           max_obstacle_height: 2.0
           clearing: True

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

@@ -89,18 +89,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    */
   explicit Costmap2DROS(const std::string & name, const bool & use_sim_time = false);
 
-  /**
-   * @brief  Constructor for the wrapper, the node will
-   * be placed in a namespace equal to the parent_namespace and the node's name
-   * @param name Name of the costmap ROS node
-   * @param name Absolute namespace of the node hosting the costmap node
-   * @param use_sim_time Whether to use simulation or real time
-   */
-  explicit Costmap2DROS(
-    const std::string & name,
-    const std::string & parent_namespace,
-    const bool & use_sim_time = false);
-
   /**
    * @brief  Constructor for the wrapper
    * @param name Name of the costmap ROS node

nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp

@@ -206,6 +206,7 @@ class CostmapLayer : public Layer, public Costmap2D
    *   * Costmap node namespace will be `/tb4/global_costmap`.
    *   * Without this function, the topic would be `/tb4/global_costmap/scan`.
    *   * With this function, topic will be remapped to `/tb4/scan`.
+   * Use global topic `/scan` if you do not wish the node namespace to apply
    *
    * @param topic the topic to parse
    */

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -75,12 +75,6 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
   init();
 }
 
-Costmap2DROS::Costmap2DROS(
-  const std::string & name,
-  const std::string & parent_namespace,
-  const bool & use_sim_time)
-: Costmap2DROS(name, parent_namespace, name, use_sim_time) {}
-
 Costmap2DROS::Costmap2DROS(
   const std::string & name,
   const std::string & parent_namespace,

nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp

@@ -126,7 +126,9 @@ TEST(ObstacleFootprint, Prepare)
   auto node = nav2_util::LifecycleNode::make_shared("costmap_tester");
 
   std::string ns = "/ns";
-  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap", ns);
+  std::string costmap_name = "test_global_costmap";
+  auto costmap_ros =
+    std::make_shared<nav2_costmap_2d::Costmap2DROS>(costmap_name, ns, costmap_name, false);
   costmap_ros->configure();
 
   std::string name = "name";
@@ -186,7 +188,9 @@ TEST(ObstacleFootprint, PointCost)
   auto node = nav2_util::LifecycleNode::make_shared("costmap_tester");
 
   std::string ns = "/ns";
-  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap", ns);
+  std::string costmap_name = "test_global_costmap";
+  auto costmap_ros =
+    std::make_shared<nav2_costmap_2d::Costmap2DROS>(costmap_name, ns, costmap_name, false);
   costmap_ros->configure();
 
   std::string name = "name";
@@ -209,7 +213,9 @@ TEST(ObstacleFootprint, LineCost)
   auto node = nav2_util::LifecycleNode::make_shared("costmap_tester");
 
   std::string ns = "/ns";
-  auto costmap_ros = std::make_shared<nav2_costmap_2d::Costmap2DROS>("test_global_costmap", ns);
+  std::string costmap_name = "test_global_costmap";
+  auto costmap_ros =
+    std::make_shared<nav2_costmap_2d::Costmap2DROS>(costmap_name, ns, costmap_name, false);
   costmap_ros->configure();
 
   std::string name = "name";

nav2_system_tests/src/system/test_multi_robot_launch.py

@@ -47,10 +47,10 @@ def generate_launch_description():
 
     bringup_dir = get_package_share_directory('nav2_bringup')
     robot1_params_file = os.path.join(  # noqa: F841
-        bringup_dir, 'params/nav2_multirobot_params_1.yaml'
+        bringup_dir, 'params/nav2_params.yaml'
     )
     robot2_params_file = os.path.join(  # noqa: F841
-        bringup_dir, 'params/nav2_multirobot_params_2.yaml'
+        bringup_dir, 'params/nav2_params.yaml'
     )
 
     # Names and poses of the robots