Fixed namespaces and updated ros_component_description (#424)

* Fixed namespaces and updated ros_component_description Signed-off-by: Jakub Delicat <[email protected]> * Remove panther_version --------- Signed-off-by: Jakub Delicat <[email protected]> Co-authored-by: rafal-gorecki <[email protected]>
husarion · Oct 10, 2024 · 863ef77 · 863ef77
1 parent c790c53
commit 863ef77
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Showing 7 changed files with 13 additions and 15 deletions.
diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos
@@ -14,7 +14,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: b29f5637a243b0008ac197032575c8df47883b2c
+    version: 99e0189970293bb0110aad0a3b609bc659ecc663
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/panther/panther_simulation.repos b/panther/panther_simulation.repos
@@ -14,7 +14,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: b29f5637a243b0008ac197032575c8df47883b2c
+    version: 99e0189970293bb0110aad0a3b609bc659ecc663
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/panther_docking/README.md b/panther_docking/README.md
@@ -33,7 +33,6 @@ The package contains a `PantherChargingDock` plugin for the [opennav_docking](ht
 
 #### Parameters
 
-- `~panther_version` [*double*, default: **1.21**]: A version of Panther robot.
 - `~<dock_name>.base_frame` [*string*, default: **base_link**]: A base frame id of a robot.
 - `~<dock_name>.external_detection_timeout` [*double*, default: **0.2**]: A timeout in seconds for looking up a transformation from an april tag of a dock to a base frame id.
 - `~<dock_name>.external_detection_translation_x` [*double*, default: **0.0**]: A translation over an X axis between a detected frame and a dock pose.

diff --git a/panther_docking/config/panther_docking_server.yaml b/panther_docking/config/panther_docking_server.yaml
@@ -37,7 +37,7 @@
     docks: ["main_dock"]
     main_dock:
       type: panther_charging_dock
-      frame: <robot_namespace>/wibotic_station_link
+      frame: <robot_namespace>/main_wibotic_station_link
       pose: [0.0, 0.0, 0.0] # position of the dock device (not the staging position), the front (X+) of the dock should point away from the robot
 
     controller:

diff --git a/panther_docking/launch/docking.launch.py b/panther_docking/launch/docking.launch.py
@@ -26,8 +26,6 @@
 
 
 def generate_launch_description():
-    panther_version = EnvironmentVariable(name="PANTHER_ROBOT_VERSION", default_value="1.0")
-
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -61,9 +59,8 @@ def generate_launch_description():
         package="opennav_docking",
         executable="opennav_docking",
         parameters=[
-            {"panther_version": panther_version},
             namespaced_docking_server_config,
-            {"use_sim_time": True},
+            {"use_sim_time": use_sim},
         ],
         namespace=namespace,
         emulate_tty=True,

diff --git a/panther_docking/launch/station.launch.py b/panther_docking/launch/station.launch.py
@@ -26,6 +26,7 @@
     PythonExpression,
 )
 from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
 from launch_ros.substitutions import FindPackageShare
 from moms_apriltag import TagGenerator2
 
@@ -41,7 +42,7 @@ def generate_apriltag_and_get_path(tag_id):
 
 
 def launch_setup(context, *args, **kwargs):
-    namespace = LaunchConfiguration("namespace")
+    namespace = LaunchConfiguration("namespace").perform(context)
     apriltag_id = int(LaunchConfiguration("apriltag_id").perform(context))
     apriltag_size = LaunchConfiguration("apriltag_size").perform(context)
 
@@ -58,8 +59,8 @@ def launch_setup(context, *args, **kwargs):
                     "wibotic_station.urdf.xacro",
                 ]
             ),
-            " namespace:=",
-            namespace,
+            " device_namespace:=",
+            "main",
             " apriltag_image_path:=",
             apriltag_image_path,
             " apriltag_size:=",
@@ -69,12 +70,16 @@ def launch_setup(context, *args, **kwargs):
 
     namespace_ext = PythonExpression(["'", namespace, "' + '/' if '", namespace, "' else ''"])
 
+    station_description = {
+        "robot_description": ParameterValue(station_description_content, value_type=str)
+    }
+
     station_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="wibotic_station_state_publisher",
         parameters=[
-            {"robot_description": station_description_content},
+            station_description,
             {"frame_prefix": namespace_ext},
         ],
         remappings=[("robot_description", "station_description")],

diff --git a/panther_docking/src/panther_charging_dock.cpp b/panther_docking/src/panther_charging_dock.cpp
@@ -70,9 +70,6 @@ void PantherChargingDock::deactivate()
 
 void PantherChargingDock::declareParameters(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node)
 {
-  nav2_util::declare_parameter_if_not_declared(
-    node, "panther_version", rclcpp::ParameterValue(1.0));
-
   nav2_util::declare_parameter_if_not_declared(
     node, name_ + ".base_frame", rclcpp::ParameterValue("base_link"));
   nav2_util::declare_parameter_if_not_declared(