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Added namespaces to ros2 nws #59

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Added namespaces to ros2 nws #59

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9 changes: 5 additions & 4 deletions urdf/R1Mk3/conf/gazebo_cer_odometry/gazebo_cer_odometry_nws_ros2.xml
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<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">

<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cer_odometry_nws_ros2" type="odometry2D_nws_ros2">
<param name="topic_name"> /odometry </param>
<param name="node_name"> cer_odometry_nws_ros2 </param>
<param name="base_frame"> mobile_base_body_link </param>
<param name="odom_frame"> odom </param>
<param name="namespace"> ${portprefixnoslash} </param>
<param name="node_name"> cer_odometry_nws_ros2 </param>
<param name="topic_name"> ${portprefix}/odometry </param>
<param name="base_frame"> ${portprefixnoslash}/mobile_base_body_link </param>
<param name="odom_frame"> ${portprefixnoslash}/odom </param>

<action phase="startup" level="10" type="attach">
<param name="device"> cer_odometry </param>
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3 changes: 2 additions & 1 deletion urdf/R1Mk3/conf/wrappers/motorControl/alljoints_ros2_wrapper.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="cbw_ros2" type="controlBoard_nws_ros2">
<param name="node_name"> ros2_cb_node </param>
<param extern-name="cbw_ros2_msgs_name" name="msgs_name"> ros2_cb_msgs </param>
<param name="topic_name"> /joint_states </param>
<param name="topic_name"> ${portprefix}/joint_states </param>
<param name="namespace"> ${portprefixnoslash} </param>
<action phase="startup" level="10" type="attach">
<param name="device"> cer_all_joints_mc_remapper </param>
</action>
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5 changes: 3 additions & 2 deletions urdf/R1Mk3/conf/wrappers/sensors/lidar_double_nws_ros2.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="lidarWrapROS2" type="rangefinder2D_nws_ros2">
<param name="period"> 0.01 </param>
<param name="namespace"> ${portprefixnoslash} </param>
<param name="node_name"> rangefinder_ros2_node </param>
<param name="topic_name"> /laser </param>
<param name="frame_id"> mobile_base_double_lidar </param>
<param name="topic_name"> ${portprefix}/laser </param>
<param name="frame_id"> ${portprefixnoslash}/mobile_base_double_lidar </param>
<action phase="startup" level="10" type="attach">
<paramlist name="networks">
<elem name="cer_laser"> laser_double </elem>
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11 changes: 6 additions & 5 deletions urdf/R1Mk3/conf/wrappers/sensors/rgbd_camera_nws_ros2.xml
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="depthWrapY" type="rgbdSensor_nws_ros2">
<param name="period">0.033</param>
<param name="color_topic_name"> /camera_rgbd/color/image_rect_color </param>
<param name="depth_topic_name"> /camera_rgbd/depth/image_rect </param>
<param name="color_frame_id"> depth_center </param>
<param name="depth_frame_id"> depth_center </param>
<param name="node_name"> rgbdsensor_ros_node </param>
<param name="namespace"> ${portprefixnoslash} </param>
<param name="color_topic_name"> ${portprefix}/camera_rgbd/color/image_rect_color </param>
<param name="depth_topic_name"> ${portprefix}/camera_rgbd/depth/image_rect </param>
<param name="color_frame_id"> ${portprefixnoslash}/depth_center </param>
<param name="depth_frame_id"> ${portprefixnoslash}/depth_center </param>
<param name="node_name"> rgbdsensor_ros_node </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="the_device"> depthcamera_plugin_device </elem>
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