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Add more explanation about PushRosNamespace action (backport #4679) #4764

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Sep 21, 2024
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Add more explanation about PushRosNamespace action (backport #4679) #4764

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14 changes: 7 additions & 7 deletions source/How-To-Guides/Launch-file-different-formats.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ Each launch file performs the following actions:
from launch.substitutions import LaunchConfiguration
from launch.substitutions import TextSubstitution
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.actions import PushROSNamespace
from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
from launch_yaml.launch_description_sources import YAMLLaunchDescriptionSource

Expand Down Expand Up @@ -82,8 +82,8 @@ Each launch file performs the following actions:
# include a Python launch file in the chatter_py_ns namespace
launch_py_include_with_namespace = GroupAction(
actions=[
# push_ros_namespace to set namespace of included nodes
PushRosNamespace('chatter_py_ns'),
# push_ros_namespace first to set namespace of included nodes for following actions
PushROSNamespace('chatter_py_ns'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
Expand All @@ -96,8 +96,8 @@ Each launch file performs the following actions:
# include a xml launch file in the chatter_xml_ns namespace
launch_xml_include_with_namespace = GroupAction(
actions=[
# push_ros_namespace to set namespace of included nodes
PushRosNamespace('chatter_xml_ns'),
# push_ros_namespace first to set namespace of included nodes for following actions
PushROSNamespace('chatter_xml_ns'),
IncludeLaunchDescription(
XMLLaunchDescriptionSource(
os.path.join(
Expand All @@ -110,8 +110,8 @@ Each launch file performs the following actions:
# include a yaml launch file in the chatter_yaml_ns namespace
launch_yaml_include_with_namespace = GroupAction(
actions=[
# push_ros_namespace to set namespace of included nodes
PushRosNamespace('chatter_yaml_ns'),
# push_ros_namespace first to set namespace of included nodes for following actions
PushROSNamespace('chatter_yaml_ns'),
IncludeLaunchDescription(
YAMLLaunchDescriptionSource(
os.path.join(
Expand Down
2 changes: 2 additions & 0 deletions source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst
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Expand Up @@ -281,6 +281,8 @@ However, if the launch file contains a large number of nodes, defining namespace
To solve that issue, the ``PushROSNamespace`` action can be used to define the global namespace for each launch file description.
Every nested node will inherit that namespace automatically.

.. attention:: PushROSNamespace has to be the first Action in the list for the following actions to apply the namespace

To do that, firstly, we need to remove the ``namespace='turtlesim2'`` line from the ``turtlesim_world_2_launch.py`` file.
Afterwards, we need to update the ``launch_turtlesim_launch.py`` to include the following lines:

Expand Down