Update rs_launch.py by hyunseok-yang · Pull Request #2764 · realsenseai/realsense-ros

hyunseok-yang · 2023-06-03T00:31:24Z

add namespace launch argument

hyunseok-yang · 2023-06-06T07:58:37Z

I've edited a commit.
latest version of changes is working correctly

command

 ros2 launch realsense2_camera rs_launch.py namespace:=my_ns camera_name:=front_cam

topic list

/my_ns/front_cam/color/camera_info
/my_ns/front_cam/color/image_raw
/my_ns/front_cam/color/image_raw/compressed
/my_ns/front_cam/color/image_raw/compressedDepth
/my_ns/front_cam/color/image_raw/theora
/my_ns/front_cam/color/metadata
/my_ns/front_cam/depth/camera_info
/my_ns/front_cam/depth/image_rect_raw
/my_ns/front_cam/depth/image_rect_raw/compressed
/my_ns/front_cam/depth/image_rect_raw/compressedDepth
/my_ns/front_cam/depth/image_rect_raw/theora
/my_ns/front_cam/depth/metadata
/my_ns/front_cam/extrinsics/depth_to_color
/my_ns/front_cam/imu

command

 ros2 launch realsense2_camera rs_launch.py

topic list

/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/theora
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/theora
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/imu

SamerKhshiboun · 2023-07-30T07:15:49Z

I also recommend adding this parameter to the Node parameters, so when run "ros2 param list" you will see this parameter along with all the nodes parameter, like camera_name.
Take a look on _camera_name parameter inside parameters.cpp and base_realsense_node.h, and define a "_camera_namespace" parameter to be linked with "camera_namespace" from the rs_launch.py file.

SamerKhshiboun

Left some comments, please fix and update the PR

SamerKhshiboun · 2023-07-30T07:03:49Z

realsense2_camera/launch/rs_launch.py



 configurable_parameters = [{'name': 'camera_name',                  'default': 'camera', 'description': 'camera unique name'},
+                           {'name': 'namespace',                    'default': '', 'description': 'namespace for camera'},


I don't want to surprise current users if they pull from this branch and build again.
Most of them used to see /camera/camera when launching our node, so I would prefer to set the default value in the namespace to "camera", to keep this behavior.

Also, I think it is better to name this parameter camera_namespace to make it more clean for users that it defines a namespace for the camera.

sure let's go with camera_namespace

realsense2_camera/launch/rs_launch.py

hyunseok-yang · 2023-07-31T08:16:07Z

@SamerKhshiboun
I rebased ros2-development branch, and fixed what you mentioned.
Please check latest one.
:)

realsense2_camera/launch/rs_launch.py

hyunseok-yang · 2023-08-01T01:30:42Z

So final one is right one I think

namespace should be (LaunchConfiguration("camera_namespace"), "/", LaunchConfiguration('camera_name' + param_name_suffix)),

`namespace does not suffix.

The format what I expected shall be this.

...
/<namespace>/<camera-name>/color/blahblah
/<namespace>/<camera-name>/depth/blahblah
...

or

...
/<namespace>/<camera-name><suffix:1>/color/blahblah
/<namespace>/<camera-name><suffix:1>/depth/blahblah
....
/<namespace>/<camera-name><suffix:2>/color/blahblah
/<namespace>/<camera-name><suffix:2>/depth/blahblah
...

Arun-Prasad-V · 2023-08-01T04:46:51Z

So final one is right one I think

namespace should be (LaunchConfiguration("camera_namespace"), "/", LaunchConfiguration('camera_name' + param_name_suffix)),

`namespace does not suffix.

The format what I expected shall be this.
...
/<namespace>/<camera-name>/color/blahblah
/<namespace>/<camera-name>/depth/blahblah
...

or

...
/<namespace>/<camera-name><suffix:1>/color/blahblah
/<namespace>/<camera-name><suffix:1>/depth/blahblah
....
/<namespace>/<camera-name><suffix:2>/color/blahblah
/<namespace>/<camera-name><suffix:2>/depth/blahblah
...

Hi @hyunseok-yang ,
In case of multiple cameras connected, the param_name_suffix variable helps differentiating the launch params of each sensors.
When rs_muti_camera_launch.py is launched,

camera_namespace1 should be used for 1st camera's namespace
camera_namespace2 should be used for 2nd camera's namespace

So, could you update the namespace as follows?
(LaunchConfiguration("camera_namespace" + param_name_suffix), "/", LaunchConfiguration('camera_name' + param_name_suffix)),

hyunseok-yang · 2023-08-01T07:07:10Z

So final one is right one I think
namespace should be (LaunchConfiguration("camera_namespace"), "/", LaunchConfiguration('camera_name' + param_name_suffix)),
`namespace does not suffix.
The format what I expected shall be this.
...
/<namespace>/<camera-name>/color/blahblah
/<namespace>/<camera-name>/depth/blahblah
...

or

...
/<namespace>/<camera-name><suffix:1>/color/blahblah
/<namespace>/<camera-name><suffix:1>/depth/blahblah
....
/<namespace>/<camera-name><suffix:2>/color/blahblah
/<namespace>/<camera-name><suffix:2>/depth/blahblah
...
Hi @hyunseok-yang , In case of multiple cameras connected, the param_name_suffix variable helps differentiating the launch params of each sensors. When rs_muti_camera_launch.py is launched,

camera_namespace1 should be used for 1st camera's namespace

camera_namespace2 should be used for 2nd camera's namespace

So, could you update the namespace as follows? (LaunchConfiguration("camera_namespace" + param_name_suffix), "/", LaunchConfiguration('camera_name' + param_name_suffix)),

Like you mentioned, in case of multiple cameras are connected, multiple camera could be separated by only param_name_suffix for camera_name.

I understood intention of param_name_suffic in rs_multi_camera_launch.py but just in camera name. Not for namespace.

As I told above, what I expected on topic list is like below.
For example, there is two robot with namespace robot1 and robot2 and each has two-d435 camera.
Topics would be like here

/robot1/cam1/color/blahblah
/robot1/cam1/depth/blahblah
/robot1/cam2/color/blahblah
/robot1/cam2/depth/blahblah

/robot2/cam1/color/blahblah
/robot2/cam1/depth/blahblah
/robot2/cam2/color/blahblah
/robot2/cam2/depth/blahblah

However if the suffix attached after namespace

/robot11/cam1/color/blahblah
/robot11/cam1/depth/blahblah
/robot12/cam2/color/blahblah
/robot12/cam2/depth/blahblah

How can I separate the multi-robot scenaro to distinguish cameras for each robot?

You mentioned that _param_name_suffixvariable helps differentiating_. And alreadyparam_name_suffix` after camera_name helped to differentiate each cameras.

Could you explain more specific scenario?

SamerKhshiboun · 2023-08-01T07:09:08Z

Hi @hyunseok-yang

1- We agree we need our suffix to distinguish between two nodes parameters when using rs_multi_camera_launch.py
2- I tested this updated code, and still I see a bug, because I think I was right on my comments above, when I said we don't need to append "camera_namespace" to "camera_name" manually
ROS should do that in the launch mechanism, without our manual strings appending.
If you run your code, with this command:
ros2 launch realsense2_camera rs_launch.py camera_namespace:="camera_dummy_namespace" camera_name:="camera_dummy_name"

You will get this when listing the nodes in anther terminal:

~/ros2_humble $ ros2 node list
/camera_dummy_namespace/camera_dummy_name/camera_dummy_name

And this is wrong.

The solution for this is to do the following:

                namespace=(LaunchConfiguration('camera_namespace' + param_name_suffix)),
                name=(LaunchConfiguration('camera_name' + param_name_suffix)),

And ROS will append the namespace to the camera name, then we will get:

administrator@vtglnx54 ~/ros2_humble $ ros2 node list
/camera_dummy_namespace/camera_dummy_name

SamerKhshiboun · 2023-08-01T07:21:14Z

Hi @hyunseok-yang,
Sorry I did not noticed your comments, since I was writing my own.

Do you want both camera nodes to be under the same namespace ?

hyunseok-yang · 2023-08-01T07:23:32Z

Hi @hyunseok-yang

1- We agree we need our suffix to distinguish between two nodes parameters when using rs_multi_camera_launch.py 2- I tested this updated code, and still I see a bug, because I think I was right on my comments above, when I said we don't need to append "camera_namespace" to "camera_name" manually ROS should do that in the launch mechanism, without our manual strings appending. If you run your code, with this command: ros2 launch realsense2_camera rs_launch.py camera_namespace:="camera_dummy_namespace" camera_name:="camera_dummy_name"

You will get this when listing the nodes in anther terminal:
~/ros2_humble $ ros2 node list
/camera_dummy_namespace/camera_dummy_name/camera_dummy_name

That's correct.

When I command this.

os2 launch realsense2_camera rs_launch.py align_depth.enable:=true rgb_camera.profile:=640x480x6 depth_module.profile:=640x480x6 camera_namespace:=test camera_name:=cam1

I got this.

/rosout
/test/cam1/aligned_depth_to_color/camera_info
/test/cam1/aligned_depth_to_color/image_raw
/test/cam1/aligned_depth_to_color/image_raw/compressed
/test/cam1/aligned_depth_to_color/image_raw/compressedDepth
/test/cam1/aligned_depth_to_color/image_raw/theora
/test/cam1/color/camera_info
/test/cam1/color/image_raw
/test/cam1/color/image_raw/compressed
/test/cam1/color/image_raw/compressedDepth
/test/cam1/color/image_raw/theora
/test/cam1/color/metadata
/test/cam1/depth/camera_info
/test/cam1/depth/image_rect_raw
/test/cam1/depth/image_rect_raw/compressed
/test/cam1/depth/image_rect_raw/compressedDepth
/test/cam1/depth/image_rect_raw/theora
/test/cam1/depth/metadata
/test/cam1/extrinsics/depth_to_color
/test/cam1/extrinsics/depth_to_depth
/test/cam1/imu

And this is wrong.

The solution for this is to do the following:
                namespace=(LaunchConfiguration('camera_namespace' + param_name_suffix)),
                name=(LaunchConfiguration('camera_name' + param_name_suffix)),
And ROS will append the namespace to the camera name, then we will get:
administrator@vtglnx54 ~/ros2_humble $ ros2 node list
/camera_dummy_namespace/camera_dummy_name

If I do this, only I got these topics without camera name.

/test/aligned_depth_to_color/camera_info
/test/aligned_depth_to_color/image_raw
/test/aligned_depth_to_color/image_raw/compressed
/test/aligned_depth_to_color/image_raw/compressedDepth
/test/aligned_depth_to_color/image_raw/theora
/test/color/camera_info
/test/color/image_raw
/test/color/image_raw/compressed
/test/color/image_raw/compressedDepth
/test/color/image_raw/theora
/test/color/metadata
/test/depth/camera_info
/test/depth/image_rect_raw
/test/depth/image_rect_raw/compressed
/test/depth/image_rect_raw/compressedDepth
/test/depth/image_rect_raw/theora
/test/depth/metadata
/test/extrinsics/depth_to_color
/test/extrinsics/depth_to_depth

hyunseok-yang · 2023-08-01T07:25:50Z

Hi @hyunseok-yang, Sorry I did not noticed your comments, since I was writing my own.

No problem :)

Do you want both camera nodes to be under the same namespace ?

Yes
That what we expecting.

It's why I insisting this launch script.

return [
            launch_ros.actions.Node(
                package='realsense2_camera',
                namespace=(LaunchConfiguration("camera_namespace"), "/", LaunchConfiguration('camera_name' + param_name_suffix)),
                name=LaunchConfiguration('camera_name' + param_name_suffix),
                executable='realsense2_camera_node',
                parameters=[params
                            , params_from_file
                            ],
                output='screen',
                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
                emulate_tty=True,
                )
        ]

SamerKhshiboun · 2023-08-01T07:29:46Z

Hi @hyunseok-yang, Sorry I did not noticed your comments, since I was writing my own.

No problem :)

Do you want both camera nodes to be under the same namespace ?

Yes That what we expecting.

It's why I insisting this launch script.

return [
            launch_ros.actions.Node(
                package='realsense2_camera',
                namespace=(LaunchConfiguration("camera_namespace"), "/", LaunchConfiguration('camera_name' + param_name_suffix)),
                name=LaunchConfiguration('camera_name' + param_name_suffix),
                executable='realsense2_camera_node',
                parameters=[params
                            , params_from_file
                            ],
                output='screen',
                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
                emulate_tty=True,
                )
        ]

do you run colcon build and ./install/local_setup.bash after each change in rs_launch.py ?
I agree with you that the namespace might be without any suffix.
but I still face a problem of /namespace/namespace/cameraname with your code.

can you please verify your changes with colcon build + running the ./install/local_setup.bash again?

hyunseok-yang · 2023-08-01T07:46:47Z

Hi @hyunseok-yang, Sorry I did not noticed your comments, since I was writing my own.

No problem :)

Do you want both camera nodes to be under the same namespace ?

Yes That what we expecting.
It's why I insisting this launch script.

return [
            launch_ros.actions.Node(
                package='realsense2_camera',
                namespace=(LaunchConfiguration("camera_namespace"), "/", LaunchConfiguration('camera_name' + param_name_suffix)),
                name=LaunchConfiguration('camera_name' + param_name_suffix),
                executable='realsense2_camera_node',
                parameters=[params
                            , params_from_file
                            ],
                output='screen',
                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
                emulate_tty=True,
                )
        ]

do you run colcon build and ./install/local_setup.bash after each change in rs_launch.py ? I agree with you that the namespace might be without any suffix. but I still face a problem of /namespace/namespace/cameraname with your code.

Sure, after colcon build and setup.bash, I just run below command.
That's all I did.

colcon build --sym 
. ./install/setup.bash or local_setup.bash
ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true rgb_camera.profile:=640x480x6 depth_module.profile:=640x480x6 camera_namespace:=test1 camera_name:=camera1

can you please verify your changes with colcon build + running the ./install/local_setup.bash again?

I'm working on humble version of ros2
I remove all build/install/log folder
did colcon build
did . ./install/local_setup.bash
run ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true rgb_camera.profile:=640x480x6 depth_module.profile:=640x480x6 camera_namespace:=test1 camera_name:=camera1

and I got this

/test1/camera1/aligned_depth_to_color/camera_info
/test1/camera1/aligned_depth_to_color/image_raw
/test1/camera1/aligned_depth_to_color/image_raw/compressed
/test1/camera1/aligned_depth_to_color/image_raw/compressedDepth
/test1/camera1/aligned_depth_to_color/image_raw/theora
/test1/camera1/color/camera_info
/test1/camera1/color/image_raw
/test1/camera1/color/image_raw/compressed
/test1/camera1/color/image_raw/compressedDepth
/test1/camera1/color/image_raw/theora
/test1/camera1/color/metadata
/test1/camera1/depth/camera_info
/test1/camera1/depth/image_rect_raw
/test1/camera1/depth/image_rect_raw/compressed
/test1/camera1/depth/image_rect_raw/compressedDepth
/test1/camera1/depth/image_rect_raw/theora
/test1/camera1/depth/metadata
/test1/camera1/extrinsics/depth_to_color
/test1/camera1/extrinsics/depth_to_depth
/test1/camera1/imu

this branch

yg@YG-ROS:realsense-ros$ git status
On branch modifiable_namespace
Your branch is up to date with 'origin/modifiable_namespace'.

hyunseok-yang · 2023-08-01T07:48:20Z

Oh Now I got it.

You did ros2 node list.

In case of me, I got this.

yg@YG-ROS:realsense-ros$ ros2 node list
/test1/camera1/camera1

It's a /namespace/camera_name/camera_name

But this is what this package expected since namespace is "namespace/camera_name"

SamerKhshiboun · 2023-08-01T07:54:29Z

If you get a node that is
/test1/camera1/camera1

all topics should be the node name and then a string
so I don't know how you are getting these topics without the camera1 twice
I expect you to get
/test1/camera1/camera1/depth/metadata

can you please run ros2 topic list again ?

hyunseok-yang · 2023-08-01T08:10:22Z

If you get a node that is /test1/camera1/camera1

all topics should be the node name and then a string so I don't know how you are getting these topics without the camera1 twice I expect you to get /test1/camera1/camera1/depth/metadata

can you please run ros2 topic list again ?

Sure,

/test/camera/aligned_depth_to_color/camera_info
/test/camera/aligned_depth_to_color/image_raw
/test/camera/aligned_depth_to_color/image_raw/compressed
/test/camera/aligned_depth_to_color/image_raw/compressedDepth
/test/camera/aligned_depth_to_color/image_raw/theora
/test/camera/color/camera_info
/test/camera/color/image_raw
/test/camera/color/image_raw/compressed
/test/camera/color/image_raw/compressedDepth
/test/camera/color/image_raw/theora
/test/camera/color/metadata
/test/camera/depth/camera_info
/test/camera/depth/image_rect_raw
/test/camera/depth/image_rect_raw/compressed
/test/camera/depth/image_rect_raw/compressedDepth
/test/camera/depth/image_rect_raw/theora
/test/camera/depth/metadata
/test/camera/extrinsics/depth_to_color
/test/camera/extrinsics/depth_to_depth
/test/camera/imu

hyunseok-yang · 2023-08-01T08:14:55Z

What did you get if run ros2 topic list currently?

hyunseok-yang · 2023-08-01T08:19:17Z

Just in case, I removed binary package ros-humble-realsense2-camera then re-run the rs_launch.py

And still got same result.

Arun-Prasad-V · 2023-08-01T08:38:51Z

As I told above, what I expected on topic list is like below. For example, there is two robot with namespace robot1 and robot2 and each has two-d435 camera. Topics would be like here
/robot1/cam1/color/blahblah
/robot1/cam1/depth/blahblah
/robot1/cam2/color/blahblah
/robot1/cam2/depth/blahblah

/robot2/cam1/color/blahblah
/robot2/cam1/depth/blahblah
/robot2/cam2/color/blahblah
/robot2/cam2/depth/blahblah
However if the suffix attached after namespace
/robot11/cam1/color/blahblah
/robot11/cam1/depth/blahblah
/robot12/cam2/color/blahblah
/robot12/cam2/depth/blahblah

Hi @hyunseok-yang , I need to clarify a bit more about param_name_suffix. This suffix will be appended to the param names listed in rs_launch.py, not for the values of those params.

The idea is to run the rs_multi_camera_launch.py as below:
ros2 launch realsense2_camera rs_multi_camera_launch.py camera_namespace1:='robot1' camera_namespace2:='robot2' camera_name1:='cam1' camera_name2:='cam2'

hyunseok-yang · 2023-08-01T09:11:58Z

As I told above, what I expected on topic list is like below. For example, there is two robot with namespace robot1 and robot2 and each has two-d435 camera. Topics would be like here
/robot1/cam1/color/blahblah
/robot1/cam1/depth/blahblah
/robot1/cam2/color/blahblah
/robot1/cam2/depth/blahblah

/robot2/cam1/color/blahblah
/robot2/cam1/depth/blahblah
/robot2/cam2/color/blahblah
/robot2/cam2/depth/blahblah
However if the suffix attached after namespace
/robot11/cam1/color/blahblah
/robot11/cam1/depth/blahblah
/robot12/cam2/color/blahblah
/robot12/cam2/depth/blahblah
Hi @hyunseok-yang , I need to clarify a bit more about param_name_suffix. This suffix will be appended to the param names listed in rs_launch.py, not for the values of those params.

OK, Let me know if it is clarified to you.

The idea is to run the rs_multi_camera_launch.py as below: ros2 launch realsense2_camera rs_multi_camera_launch.py camera_namespace1:='robot1' camera_namespace2:='robot2' camera_name1:='cam1' camera_name2:='cam2'

My idea is like this. What do you think?
Bringup launch script should be launched every robot.

# for robot 1
ros2 launch realsense2_camera rs_multi_camera_launch.py camera_namespace:='robot1'  camera_name1:='cam1' camera_name2:='cam2'`

# for robot 2
ros2 launch realsense2_camera rs_multi_camera_launch.py camera_namespace:='robot2'  camera_name1:='cam1' camera_name2:='cam2'`

SamerKhshiboun · 2023-08-01T13:03:26Z

To conclude everything:
About namespaces and names:
https://robots.nootrix.com/diy-tutos/ros-namespaces/

A namespace can include nodes, topics, etc..

Today, when launching with:
ros2 launch realsense2_camera rs_launch.py

We get this output, and we want to keep like this, because many users have assumption on node names and topic names

The first /camera is always the namespace

so the node name is
/<camera_namespace>/<camera_name>

and this should be like this always.

the topics are
/<camera_namespace>/<topic_name>
no camera_name (or node name) in the topic, and we should keep this behavior.

What I suggest is here:

in rs_launch.py edit namespace in both places:

namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),

in rs_multi_camera_launch.py, edit local_parameters to be:

local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera1 unique name'},
                    {'name': 'camera_name2', 'default': 'camera2', 'description': 'camera2 unique name'},
                    {'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
                    {'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
                    ]

Then, you can run this example from your terminal: ( I have D455 and D435i cameras)

ros2 launch realsense2_camera rs_multi_camera_launch.py device_type1:='d455' camera_name1:='D455' device_type2:='d435i' camera_name2:='D435i' camera_namespace1:='robot1/d455' camera_namespace2:='robot1/d435i'

and then you will get two nodes (ros2 node list):

/robot1/d435i/D435i
/robot1/d455/D455

and you will get these topics:

/robot1/d435i/color/camera_info
/robot1/d435i/color/image_raw
/robot1/d435i/color/metadata
/robot1/d435i/depth/camera_info
/robot1/d435i/depth/image_rect_raw
/robot1/d435i/depth/metadata
/robot1/d435i/extrinsics/depth_to_color
/robot1/d435i/imu
/robot1/d455/color/camera_info
/robot1/d455/color/image_raw
/robot1/d455/color/metadata
/robot1/d455/depth/camera_info
/robot1/d455/depth/image_rect_raw
/robot1/d455/depth/metadata
/robot1/d455/extrinsics/depth_to_color
/robot1/d455/imu

If that good for you, please do the suggested changes and commit, and I will approve this PR and merge it.

hyunseok-yang · 2023-08-02T09:05:04Z

As you mentioned this will NOT include camera name on topics.

namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),

Is that your intention?

So whatever camera_name is passed on launcher, it will not affect topic name right?
camera_name:=

It it so, we have to append a camera_name on camera_namespace always..

for examples,
camera_namespace:=/robot1/cam1
camera_namespace:=/robot1/cam2
camera_namespace:=/robot1/cam3

I think it is little weired that the camera name is appended in namespace. Because literally namespace is namespace not a name.
(I know that is working solution)

SamerKhshiboun · 2023-08-03T13:13:56Z

I think it is little weired that the camera name is appended in namespace. Because literally namespace is namespace not a name.

I understand that this is weird, but your proposal is doing the same weirdness under the hood (in the code itself) when you append the camera_name to the camera_namespace.
We either do this in the code, or in the launch file/command.

Anyway, I think the best solution should be enhancing other places in the code, where we define the topic names.
We can add the camera_name to that places (see startPublishers() function in rs_node_setup.cpp)
This way we will keep the isolation concept of both camera_name and camera_namespace.

What do you think ?

hyunseok-yang · 2023-08-04T01:24:06Z

I understand that this is weird, but your proposal is doing the same weirdness under the hood (in the code itself) when you append the camera_name to the camera_namespace. We either do this in the code, or in the launch file/command.

I didn't intend it. I appended it because code are written in this packges.
Just followed the rule of here.
I hope to launch the package with namespace and name intutively.

Anyway, I think the best solution should be enhancing other places in the code, where we define the topic names. We can add the camera_name to that places (see startPublishers() function in rs_node_setup.cpp) This way we will keep the isolation concept of both camera_name and camera_namespace.

What do you think ?

If you can edit the code as what we desired, I would be happy :).

So you mean, I will get below result, isn't it?

with this launch command
ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=cam1
ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=cam2

/robot1/cam1/color/blahblah
/robot1/cam1/depth/blahblah
/robot1/cam2/color/blahblah
/robot1/cam2/depth/blahblah

/robot2/cam1/color/blahblah
/robot2/cam1/depth/blahblah
/robot2/cam2/color/blahblah
/robot2/cam2/depth/blahblah

THEN I will follow your way.

After all of modifictaion, is it still required param_name_suffix in namespace?

SamerKhshiboun · 2023-08-06T07:30:04Z

I understand that this is weird, but your proposal is doing the same weirdness under the hood (in the code itself) when you append the camera_name to the camera_namespace. We either do this in the code, or in the launch file/command.

I didn't intend it. I appended it because code are written in this packges. Just followed the rule of here. I hope to launch the package with namespace and name intutively.

Anyway, I think the best solution should be enhancing other places in the code, where we define the topic names. We can add the camera_name to that places (see startPublishers() function in rs_node_setup.cpp) This way we will keep the isolation concept of both camera_name and camera_namespace.
What do you think ?

If you can edit the code as what we desired, I would be happy :).

So you mean, I will get below result, isn't it?

with this launch command ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=cam1 ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=cam2
/robot1/cam1/color/blahblah
/robot1/cam1/depth/blahblah
/robot1/cam2/color/blahblah
/robot1/cam2/depth/blahblah

/robot2/cam1/color/blahblah
/robot2/cam1/depth/blahblah
/robot2/cam2/color/blahblah
/robot2/cam2/depth/blahblah
THEN I will follow your way.

After all of modifictaion, is it still required param_name_suffix in namespace?

Lets start with your PR, and then I will continue in a separated PR (to add the camera name to the topic name)

Please fix two things::

in rs_launch.py edit namespace in both places:

namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),

in rs_multi_camera_launch.py, edit local_parameters to be:

local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera1 unique name'},
                    {'name': 'camera_name2', 'default': 'camera2', 'description': 'camera2 unique name'},
                    {'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
                    {'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
                    ]

hyunseok-yang · 2023-08-07T01:01:25Z

I understand that this is weird, but your proposal is doing the same weirdness under the hood (in the code itself) when you append the camera_name to the camera_namespace. We either do this in the code, or in the launch file/command.

I didn't intend it. I appended it because code are written in this packges. Just followed the rule of here. I hope to launch the package with namespace and name intutively.

Anyway, I think the best solution should be enhancing other places in the code, where we define the topic names. We can add the camera_name to that places (see startPublishers() function in rs_node_setup.cpp) This way we will keep the isolation concept of both camera_name and camera_namespace.
What do you think ?

If you can edit the code as what we desired, I would be happy :).
So you mean, I will get below result, isn't it?
with this launch command ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=cam1 ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=cam2
/robot1/cam1/color/blahblah
/robot1/cam1/depth/blahblah
/robot1/cam2/color/blahblah
/robot1/cam2/depth/blahblah

/robot2/cam1/color/blahblah
/robot2/cam1/depth/blahblah
/robot2/cam2/color/blahblah
/robot2/cam2/depth/blahblah
THEN I will follow your way.
After all of modifictaion, is it still required param_name_suffix in namespace?
Lets start with your PR, and then I will continue in a separated PR (to add the camera name to the topic name)

Please fix two things::

in rs_launch.py edit namespace in both places:
namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
in rs_multi_camera_launch.py, edit local_parameters to be:
local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera1 unique name'},
                    {'name': 'camera_name2', 'default': 'camera2', 'description': 'camera2 unique name'},
                    {'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
                    {'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
                    ]

OK. just moment

hyunseok-yang · 2023-08-07T01:03:59Z

Please check, I modified the commit as what you require.

SamerKhshiboun

Approved

realsense2_camera/launch/rs_launch.py

- Add namespace launch argument

hyunseok-yang · 2023-08-08T02:05:53Z

@SamerKhshiboun Please check with latest commit 16d49e0

hyunseok-yang mentioned this pull request Jun 3, 2023

Why namespace is fixed as node_name #2761

Open

hyunseok-yang force-pushed the modifiable_namespace branch from eb7643e to 4c53382 Compare June 6, 2023 07:56

Nir-Az requested a review from SamerKhshiboun June 11, 2023 07:16

SamerKhshiboun suggested changes Jul 30, 2023

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SamerKhshiboun added the enhancement label Jul 30, 2023

hyunseok-yang force-pushed the modifiable_namespace branch from 4c53382 to 6b02bb3 Compare July 31, 2023 07:47

SamerKhshiboun reviewed Jul 31, 2023

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hyunseok-yang force-pushed the modifiable_namespace branch from 6b02bb3 to 114350d Compare July 31, 2023 08:10

SamerKhshiboun reviewed Jul 31, 2023

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hyunseok-yang force-pushed the modifiable_namespace branch from 114350d to c6faad4 Compare August 1, 2023 01:29

hyunseok-yang force-pushed the modifiable_namespace branch from c6faad4 to 2ad2519 Compare August 7, 2023 01:03

SamerKhshiboun suggested changes Aug 7, 2023

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hyunseok-yang force-pushed the modifiable_namespace branch from 2ad2519 to 37cb7da Compare August 8, 2023 01:58

Update rs_launch.py, rs_multi_camera_launch.py

16d49e0

- Add namespace launch argument

hyunseok-yang force-pushed the modifiable_namespace branch from 37cb7da to 16d49e0 Compare August 8, 2023 02:04

SamerKhshiboun approved these changes Aug 8, 2023

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SamerKhshiboun merged commit 25a1191 into realsenseai:ros2-development Aug 8, 2023

hyunseok-yang deleted the modifiable_namespace branch August 9, 2023 05:36

hyunseok-yang mentioned this pull request Aug 24, 2023

Apply camera name in topics #2857

Merged



		configurable_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
		{'name': 'namespace', 'default': '', 'description': 'namespace for camera'},

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