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[BUG]: Namespacing Partial Functionality

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Assessment

Difficulty
4/5
Estimated time
3-5 days
Newbie friendliness
35/100
Issue type
Bug
Clarity
Needs clarification
Activity status
Stale
Tech stack
python
Domain
robotics

Research direction

Start with hunter_platform/hunter_pltf_gazebo/launch/launch_sim.launch.py, then trace its spawn_entity invocation and robot_description_content handling. Reproduce the launch under PushRosNamespace('GROUP') and inspect the listed camera, GPS, node, and topic names. Done means those resources follow the group namespace while the default unnamespaced launch still works.

Written by the indexing model from the issue text.

Description

bug
Description of the bug

The launch file hunter_platform/hunter_pltf_gazebo/launch/launch_sim.launch.py brings up the gazebo sim for the hunter. When this is launched it, by default, has no namespace as expected.

Ideally a namespace is applied through this launch file being included under a GroupAction with an associated PushRosNamespace. However under this approach, only the following topics and nodes are namespaces appropriately when deployed with PushRosNamespace('GROUP'):

Nodes:
/GROUP/robot_state_publisher

Topics:
/GROUP/joint_states
/GROUP/robot_description

Included within the launch_sim.launch.py file is the spawn_entity node. This can take an additional argument of: '-robot_namespace', '/SPAWN', which should (when absent) use the rclpy.get_namespace() by default. When set manually, this will apply a namespace to:

Nodes:
/SPAWN/back_lidar_link_plugin
/SPAWN/front_lidar_link_plugin
/SPAWN/gps_base_controller
/SPAWN/imu1_controller
/SPAWN/gazebo_ros2_control

Topics:
/SPAWN/gps_base_controller/vel
/SPAWN/back_lidar/points
/SPAWN/back_lidar/points_PointCloud2
/SPAWN/front_lidar/points
/SPAWN/front_lidar/points_PointCloud2

Further in this launch file, is the robot_description_content which can apply a prefix to the xacro file. When this is applied as "prefix:='DESC_'",, it will add the prefix to the following items:

Nodes:
/SPAWN/DESC_back_lidar_link_plugin
/SPAWN/DESC_front_lidar_link_plugin
/SPAWN/DESC_gps_base_controller
/SPAWN/DESC_imu1_controller

Topics:
/DESC_gps_base/fix
/SPAWN/DESC_gps_base_controller/vel

With all three applied, the following topics and nodes are still not namespaced:

Nodes:
/back_camera_camera_controller
/front_camera_camera_controller

Topics:
/back_camera/camera_info
/back_camera/depth/camera_info
/back_camera/depth/image_raw
/back_camera/depth/image_raw/compressed
/back_camera/image_raw
/back_camera/image_raw/compressed
/back_camera/points
/front_camera/camera_info
/front_camera/depth/camera_info
/front_camera/depth/image_raw
/front_camera/depth/image_raw/compressed
/front_camera/image_raw
/front_camera/image_raw/compressed
/front_camera/points
/gps_base/yaw

These should all namespace appropriately given the launch file being run with a RosPushNamespace. Each of the files associated with this need to have namespacing compatibility available.

Steps To Reproduce
Additional Information

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Dominant language
Python
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Forks
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