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Is URDF plugin's namespace different from topic's namespace?

asked 2021-07-18 22:02:32 -0500

HeatWaves gravatar image

If I spawn a URDF using the spawn_model node in the gazebo_ros package in a separate namespace called ns1 using the <group ns="ns1"> tag, would all the topics related to the URDF (controller topics, plugin topics, sensor topics) be also be launched in the ns1 namespace or would they be there in the global namespace?

I tried doing it and found them to be present in the global namespace, I'm not sure if I'm doing it correctly. Wouldn't it make more sense for them to be present in the namespace in which the node spawning them is launched?

Also, it'd be great if someone points me to some example repos in which multiple robots of the same kind (preferably with cameras or other sensors) are simulated in a Gazebo simulation. I want to check how to take care of topic namespaces, plugins, and transforms. TIA

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answered 2021-07-21 07:52:54 -0500

Clément Rolinat gravatar image

hello, I think that the answer to your question is here : link

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Asked: 2021-07-18 22:02:32 -0500

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Last updated: Jul 21 '21