Add tf pub for each robot (support namespace)

[finani]

Add tf pub for each robot (support namespace)

I wanted to use mvsim with nav2 for multi-agent scenario.
Since Nav2 supports namespace, tf topics should also be separated like other topics.
However, every robot's tf & tf_static is published as /tf & /tf_static in mvsim.
Therefore, I added tf & tf_static pub for each robot and topics become completely independant for each namespace.

before

• r1, r2

topic name	frame id
/tf	/r1/odom, /r2/odom, ...
/tf_static	/r1/base_link, /r2/base_link, ...

after

• r1, r2

topic name	frame id
/tf	/r1/odom, /r2/odom, ...
/tf_static	/r1/base_link, /r2/base_link, ...
/r1/tf	/r1/odom, ...
/r1/tf_static	/r1/base_link, ...
/r2/tf	/r2/odom, ...
/r2/tf_static	/r2/base_link, ...

If you want to check tf, use rqt_tf tree

ros2 run rqt_tf_tree rqt_tf_tree /tf:=/<namespace>/tf /tf_static:=/<namespace>/tf_static

[jlblancoc]

Awesome! Looks good to me. Can you please just check the missing ci test on clang format?

[finani]

Sure!
I updated. Thanks!

[jlblancoc]

Thanks!

[jlblancoc]

@finani could you please take a look at the build errors after this PR in ROS? e.g.

• https://github.com/MRPT/mvsim?tab=readme-ov-file#build-matrix-status
• https://build.ros2.org/job/Hdev__mvsim__ubuntu_jammy_amd64/219/console

Perhaps a missing edit to be committed? Unfortunately, CI in the PRs doesn't catch up with the ROS node yet...

[finani]

Oh.. I will check.