fix: Add PushRosNamespace action to navigation launch file and update…

nav2_bringup/launch/bringup_launch.py

@@ -21,7 +21,7 @@
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node, PushROSNamespace
+from launch_ros.actions import Node
 from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
@@ -150,10 +150,10 @@ def generate_launch_description() -> LaunchDescription:
     # Specify the actions
     bringup_cmd_group = GroupAction(
         [
-            PushROSNamespace(namespace),
             Node(
                 condition=IfCondition(use_composition),
                 name='nav2_container',
+                namespace=namespace,
                 package='rclcpp_components',
                 executable='component_container_isolated',
                 parameters=[configured_params, {'autostart': autostart}],

nav2_bringup/launch/keepout_zone_launch.py

@@ -19,7 +19,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import LoadComposableNodes, Node, SetParameter
+from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
 from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
@@ -116,6 +116,7 @@ def generate_launch_description() -> LaunchDescription:
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             Node(
                 condition=IfCondition(use_keepout_zones),
@@ -159,6 +160,7 @@ def generate_launch_description() -> LaunchDescription:
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             LoadComposableNodes(
                 target_container=container_name_full,

nav2_bringup/launch/localization_launch.py

@@ -20,7 +20,7 @@
 from launch.conditions import IfCondition
 from launch.substitutions import (EqualsSubstitution, LaunchConfiguration, NotEqualsSubstitution,
                                   PythonExpression)
-from launch_ros.actions import LoadComposableNodes, Node, SetParameter
+from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
 from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
@@ -110,6 +110,7 @@ def generate_launch_description() -> LaunchDescription:
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             Node(
                 condition=IfCondition(
@@ -168,6 +169,7 @@ def generate_launch_description() -> LaunchDescription:
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             LoadComposableNodes(
                 target_container=container_name_full,

nav2_bringup/launch/navigation_launch.py

@@ -19,7 +19,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import LoadComposableNodes, Node, SetParameter
+from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
 from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
@@ -65,6 +65,14 @@ def generate_launch_description() -> LaunchDescription:
         'SPEED_ZONE_ENABLED': use_speed_zones,
     }
 
+    # RewrittenYaml: Adds namespace to the parameters file as a root key
+    # Note: Make sure that all frames are correctly namespaced in the parameters file
+    # Do not add namespace to topics in the parameters file, as they will be remapped
+    # by the root key only if they are not prefixed with a forward slash.
+    # e.g. 'map' will be remapped to '/<namespace>/map', but '/map' will not be remapped.
+    # IMPORTANT: to make your yaml file dynamic you can refer to humble branch under
+    # nav2_bringup/launch/bringup_launch.py to see how the parameters file is configured
+    # using ReplaceString <robot_namespace>
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,
@@ -143,6 +151,7 @@ def generate_launch_description() -> LaunchDescription:
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
             SetParameter('use_sim_time', use_sim_time),
+            PushROSNamespace(namespace=namespace),
             Node(
                 package='nav2_controller',
                 executable='controller_server',
@@ -267,6 +276,7 @@ def generate_launch_description() -> LaunchDescription:
         condition=IfCondition(use_composition),
         actions=[
             SetParameter('use_sim_time', use_sim_time),
+            PushROSNamespace(namespace=namespace),
             LoadComposableNodes(
                 target_container=container_name_full,
                 composable_node_descriptions=[

nav2_bringup/launch/slam_launch.py

@@ -20,7 +20,7 @@
 from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node, SetParameter, SetRemap
+from launch_ros.actions import Node, PushROSNamespace, SetParameter, SetRemap
 from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import HasNodeParams, LaunchConfigAsBool, RewrittenYaml
 
@@ -89,6 +89,7 @@ def generate_launch_description() -> LaunchDescription:
     # Nodes launching commands
     start_map_server = GroupAction(
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             Node(
                 package='nav2_map_server',
@@ -120,6 +121,8 @@ def generate_launch_description() -> LaunchDescription:
     start_slam_toolbox_cmd = GroupAction(
 
         actions=[
+            PushROSNamespace(namespace),
+
             # Remapping required to have a slam session subscribe & publish in optional namespaces
             SetRemap(src='/scan', dst='scan'),
             SetRemap(src='/tf', dst='tf'),

nav2_bringup/launch/speed_zone_launch.py

@@ -19,7 +19,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import LoadComposableNodes, Node, SetParameter
+from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
 from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import LaunchConfigAsBool, RewrittenYaml
 
@@ -116,6 +116,7 @@ def generate_launch_description() -> LaunchDescription:
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             Node(
                 condition=IfCondition(use_speed_zones),
@@ -159,6 +160,7 @@ def generate_launch_description() -> LaunchDescription:
     load_composable_nodes = GroupAction(
         condition=IfCondition(use_composition),
         actions=[
+            PushROSNamespace(namespace),
             SetParameter('use_sim_time', use_sim_time),
             LoadComposableNodes(
                 target_container=container_name_full,