Multi robot launch in gazebo and multi robots control with namespace.

.github/workflows/ros-ci.yml

@@ -1,58 +1,60 @@
-name: humble-devel
+# The name of the workflow
+name: CI
 
-# Controls when the action will run. Triggers the workflow on push or pull request
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble-devel ]
+    branches: [ main, humble ]
   pull_request:
-    branches: [ humble-devel ]
+    branches: [ main, humble ]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  humble-devel:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
-          #- foxy
-          # - galactic
           - humble
+          # - jazzy
           # - rolling
         include:
-            # Foxy Fitzroy (June 2020 - May 2023)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: foxy
-          #   ros_version: 2
-          #   # Galactic Geochelone (May 2021)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: galactic
-          #   ros_version: 2
-            # Humble Hawksbill (May 2027)
+          # ROS 2 Humble Hawksbill
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
-          #   # Rolling
-          # - docker_image: ubuntu:jammy
+          # ROS 2 Jazzy Jalisco
+          # - docker_image: ubuntu:noble
+          #   ros_distribution: jazzy
+          #   ros_version: 2
+          # ROS 2 Rolling Ridley
+          # - docker_image: ubuntu:noble
           #   ros_distribution: rolling
           #   ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
-        uses: actions/checkout@v3
+
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.3.3
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@0.2.5
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: turtlebot3_simulations
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3_simulations/ros2-devel/turtlebot3_simulations_ci.repos"
-
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/main/turtlebot3_ci.repos"
+          package-name: |
+            turtlebot3_fake_node
+            turtlebot3_gazebo
+            turtlebot3_simulations

.github/workflows/ros-lint.yml

@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, cpplint, flake8, pep257, lint_cmake, xmllint, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"

turtlebot3_fake_node/include/turtlebot3_fake_node/turtlebot3_fake_node.hpp

@@ -18,9 +18,9 @@
 #define TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_
 
 #include <tf2/LinearMath/Quaternion.h>
-#include <rclcpp/rclcpp.hpp>
 #include <chrono>
 
+#include <rclcpp/rclcpp.hpp>
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "geometry_msgs/msg/twist.hpp"
 #include "nav_msgs/msg/odometry.hpp"

turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp

@@ -17,12 +17,12 @@
 #ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
 #define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
 
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.h>
 #include <geometry_msgs/msg/twist.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #define DEG2RAD (M_PI / 180.0)
 #define RAD2DEG (180.0 / M_PI)

turtlebot3_gazebo/launch/multi_robot.launch.py

@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, HyunGyu
+
+import os
+import xml.etree.ElementTree as ET
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnShutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    number_of_robots = 4
+    namespace = 'TB3'
+    pose = [[-2, -0.5], [0.5, -2], [2, 0.5], [-0.5, 2]]
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'model.sdf'
+    )
+    save_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'tmp'
+    )
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd_list = []
+
+    for count in range(number_of_robots):
+        robot_state_publisher_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+                ),
+                launch_arguments={
+                    'use_sim_time': use_sim_time,
+                    'frame_prefix': f'{namespace}_{count+1}'
+                    }.items()
+            )
+        )
+
+    spawn_turtlebot_cmd_list = []
+
+    for count in range(number_of_robots):
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+        for odom_frame_tag in root.iter('odometry_frame'):
+            odom_frame_tag.text = f'{namespace}_{count+1}/odom'
+        for base_frame_tag in root.iter('robot_base_frame'):
+            base_frame_tag.text = f'{namespace}_{count+1}/base_footprint'
+        for scan_frame_tag in root.iter('frame_name'):
+            scan_frame_tag.text = f'{namespace}_{count+1}/base_scan'
+        urdf_modified = ET.tostring(tree.getroot(), encoding='unicode')
+        urdf_modified = '<?xml version="1.0" ?>\n'+urdf_modified
+        with open(f'{save_path}{count+1}.sdf', 'w') as file:
+            file.write(urdf_modified)
+
+        spawn_turtlebot_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'multi_spawn_turtlebot3.launch.py')
+                ),
+                launch_arguments={
+                        'x_pose': str(pose[count][0]),
+                        'y_pose': str(pose[count][1]),
+                        'robot_name': f'{TURTLEBOT3_MODEL}_{count+1}',
+                        'namespace': f'{namespace}_{count+1}',
+                        'sdf_path': f'{save_path}{count+1}.sdf'
+                }.items()
+            )
+        )
+
+    ld = LaunchDescription()
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(RegisterEventHandler(
+        OnShutdown(
+            on_shutdown=lambda event,
+            context: [os.remove(f'{save_path}{count+1}.sdf') for count in range(number_of_robots)]
+        )
+    ))
+    for count, spawn_turtlebot_cmd in enumerate(spawn_turtlebot_cmd_list, start=1):
+        ld.add_action(GroupAction([PushRosNamespace(f'{namespace}_{count}'),
+                                  robot_state_publisher_cmd_list[count-1],
+                                  spawn_turtlebot_cmd]))
+
+    return ld

turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: HyunGyu
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+    robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
+    namespace = LaunchConfiguration('namespace', default='')
+    sdf_path = LaunchConfiguration('sdf_path', default='')
+
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+    start_gazebo_ros_spawner_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name,
+            '-file', sdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.01',
+            '-robot_namespace', namespace
+        ],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(start_gazebo_ros_spawner_cmd)
+    return ld

turtlebot3_gazebo/launch/robot_state_publisher.launch.py

@@ -21,15 +21,16 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
     TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
 
-    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
     urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
+    frame_prefix = LaunchConfiguration('frame_prefix', default='')
 
     print('urdf_file_name : {}'.format(urdf_file_name))
 
@@ -46,15 +47,15 @@ def generate_launch_description():
             'use_sim_time',
             default_value='false',
             description='Use simulation (Gazebo) clock if true'),
-
         Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
             name='robot_state_publisher',
             output='screen',
             parameters=[{
                 'use_sim_time': use_sim_time,
-                'robot_description': robot_desc
+                'robot_description': robot_desc,
+                'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
             }],
         ),
     ])