ros2 remapping not working

Sign in ros2; Issues; Topic remapping does not work in namespaced component nodes; Repository ros2/ros2 The Robot Operating System, is a meta operating system for robots. and in this instance running the launch file would start an action named "action_name" rather than "action_server_1". ROS2 Service Client freezes when calling twice. OK, I'll just close the issue unless I can come up with a better test. The remapping does not seem to work. [ROS2] What's the best way to wait for a new message? Creative Commons Attribution Share Alike 3.0. Why Does ROS2 install/setup.bash Source ROS1 and ROS2. privacy statement. For single parameter assignment, use either --param name:=value or -p name:=value where value is in YAML format. Sign in I'm not sure if this is intended to work as I expect, but it seems reasonable to me. For multiple parameter assignments, use --params-file path/to/file.yaml and a parameters YAML file. So I don't think the remapping has taken effect. So if you want to both remap and namespace, you need to do: OK. Well that's what I had originally :(. If I'm not mistaken, you're using remappings wrong. Note the remapping. And to do that, you'll use the ros2 launch command line tool. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. I'm pretty sure it should be: If you then want to add another remapping, it would look like this: sorry I just mistyped in my example, you are right but it is in tuple format in reality. The first part is used to determine if the rule applies to a name. The container node has no topics; they all belong to the composable nodes. There's a chance this combination isn't expected to work, but I think it might be. Hopefully someone can point out where things are going wrong. Obstacles in sensor deadzone. [ROS2] What's the best way to wait for a new message? 4 comments Member dhood commented on Jun 18, 2018 This works: ]$ ros2 run demo_nodes_cpp talker talker:__node:=new_node_name [INFO] [new_node_name]: Publishing: 'Hello World: 1' ^Csignal_handler (2) As does this: Why is this simple service not returning anything ? There's a unit test for rcl_remap_node_namespace(), __ns remapping not working when specified for a particular node. You can also aggregate data from various nodes into a common topic. Remapping rules have two parts. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace Hopefully someone can point out where things are going wrong. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. gazebo. I should be able to see a camera1_ns using rostopic list? 2326 457 237 845 AndyZe Issue Asked: January 19, 2022, 8:37 pm January 19, 2022, 8:37 pm 2022-01-19T20:37:58Z In: ros2/ros2 Remapping arguments can be passed to any node and use the syntax name:=new_name. Summary. Creative Commons Attribution Share Alike 3.0. To bring some closure to this, it works properly when the namespace of the component container is removed. The second part is the replacement for a matched name. this example works well for me, i am posting it even if it seems the same as yours: Edit: have you tried adding commas after each line like in my example ? The act of replacing one name with another is remapping. OK. At this point, this seems like a configuration issue somewhere. You signed in with another tab or window. No, that shouldn't be. How can I do it? As a quick summary of ROS command line capabilities: For name remapping, use either --remap from:=to or -r from:=to. Then: So if you want to both remap and namespace, you need to do: OK. At this point, this seems like a configuration issue somewhere. By clicking Sign up for GitHub, you agree to our terms of service and to your account. In general they work more like "dynamic reconfigure parameters" from ROS 1, in that they are node specific (no truly global parameters) and they are managed by the node (the node can refuse changes and parameters can only be read and changed while the node is running). ***> wrote: I've been trying to remap the /joint_states topic for 2 "ComposableNodes" in a dual-arm system. It worked fine with @clalancette 's simple examples whether there was a component container namespace or not. That does work. 2018, 08:18 Shane Loretz, ***@***. Maybe the remapping should be something like: Yes. Another thing I noticed is that after deleting the namespace of the ComposableNodeContainer, this node disappeared: It looks like there is some relation where the topics need to be remapped in the container node as well as the composable node? This feature of ROS allows you to defer complex name assignments to the actual runtime loading of the system. Already on GitHub? So I don't think the remapping has taken effect. Do you think this could have something to do with my component node having a namespace? Copyright IssueAntenna. That does work. No luck. I want to create a message file for action server to receive goal. Don't ask me why. jeremya 235 16 25 31 To re-use other packages in the ROS2 ecosystem, it's often advantageous to directly re-use the launch files provided with a package by using IncludeLaunchDescription. privacy statement. I am working on using launch files and parameters to re-use my nodes but I am encountering a critical failure which is that remapping the action name the same way I am remapping service names does not seem to work. https://github.com/ros2/rcl/blob/master/rcl/test/rcl/test_remap_integration.cpp, https://github.com/ros2/rcl/blob/c9fe312674f8c5a2c5b40b6208c830f4ca8c40ff/rcl/test/rcl/test_remap.cpp#L55-L86, https://github.com/notifications/unsubscribe-auth/AFW5nGYfiMnox_c-dQO-DkhGzF5fgdM5ks5t-RZjgaJpZM4Us2TX, Add regression test for node:__ns remapping. Topic remapping does not work in namespaced component nodes. It worked fine with @clalancette 's simple examples whether there was a component container namespace or not. Remapping a ROS topic can be very handy when you don't have full control over which node is publishing on what, and which node is subscribing from what. manage complexity through composition of simpler systems (launch files) allow including of other launch files. But, ros2 node info /LeftArm/local_planner also does not show a subscription to /joint_states: This launch file remaps just fine for me on Rolling: Can you try that launch file out on your system? Please start posting anonymously - your entry will be published after you log in or create a new account. The first part is used to determine if the rule applies to a name. Is there (already) a way in Ros 2 to remap services in a launch file? ros2 node info /LeftArm/local_planner_private_140 shows that the node is still subscribing to /LeftArm/joint_states. Run the ROS2 launch file Now that you have written and installed your launch file, it's now ready to be launched! I'm going to close this out, and suggest you re-ask the question on https://answers.ros.org with a lot of specifics on what you are trying to do and what is failing. asked 2012-12-21 04:52:27 -0500. . Well occasionally send you account related emails. Remapping topics in gazebo, not working? Publishing unbound array in ROS2 topic Already on GitHub? Remappings are applied after the namespacing. Maybe the remapping should be something like: Yes. ComposableNode(. OK, I'll just close the issue unless I can come up with a better test. The relevant bit of the launch file looks like this. ros2 node info /LeftArm/local_planner_private_140 shows that the node is still subscribing to /LeftArm/joint_states. Similar to the warning when . roslaunch. Note the remapping. camera. Controller's nodes are created from ros2_control_node and not from spawner.py. To bring some closure to this, it works properly when the namespace of the component container is removed. First, go into another terminal and source your ROS2 workspace. Remappings are applied after the namespacing. I have tried switching the order in the tuple like this, just to be sure. Define custom messages in python package (ROS2), Incorrect Security Information - Docker GUI. No luck. Please start posting anonymously - your entry will be published after you log in or create a new account. I wrote it like this , is this correct? I've been trying to remap the /joint_states topic for 2 "ComposableNodes" in a dual-arm system. maximum number of subscribers per topic. Define custom messages in python package (ROS2), Incorrect Security Information - Docker GUI. remap. The relevant bit of the launch file looks like this. This command will take 2 arguments: name of the package + name of the launch file. How to namespace action servers with composed nodes. 1 comment Bjoernolav commented on Aug 11 edited Operating System: Ubuntu 22.04 Installation type: Docker container based on ros:humble Have a question about this project? Don't ask me why. I have tried switching the order in the tuple like this, just to be sure. to your account. The remapping does not seem to work. 1 remapping action name does not work ros2 action remapping action-server asked Jun 10 '21 masynthetic 55 7 14 19 updated Jun 11 '21 I am working on using launch files and parameters to re-use my nodes but I am encountering a critical failure which is that remapping the action name the same way I am remapping service names does not seem to work. But, ros2 node info /LeftArm/local_planner also does not show a subscription to /joint_states: This launch file remaps just fine for me on Rolling: Can you try that launch file out on your system? yeah I have checked carefully, here is my exact code: but 'ros2 action list' returns 'move_axis_to', additionally 'ros2 topic list' reveals that the topic name remap works so I am sure that the remap syntax is not wrong. The relevant bit of the launch file looks like this. Well occasionally send you account related emails. You signed in with another tab or window. The above command does not change the node name, but I would expect the output of ros2 node list to contain /foo. Remapping rules have two parts. Do you think this could have something to do with my component node having a namespace? Have a question about this project? All Rights Reserved. Ros2 remapping not working The launch system in ROS 2 will: convert common ROS concepts like remapping and changing the namespace into appropriate command line arguments and configurations for nodes so the user doesn't have to do so. The act of replacing one name with another is remapping. The text was updated successfully, but these errors were encountered: I'm not sure what the difference is between these 2 nodes: /LeftArm/local_planner and /LeftArm/local_planner_private_1404999. definitely a bug For example, to configure the talker node to publish to /wg/chatter instead of chatter: rosrun rospy_tutorials talker chatter:=/wg/chatter For example: If my service is on '/service' and my client-node is in a namespace called 'a' and therefore tries to connect to '/a/service'. By clicking Sign up for GitHub, you agree to our terms of service and I am successfully remapping topic in my applications when doing this on ros2_control_node. I'm going to close this out, and suggest you re-ask the question on https://answers.ros.org with a lot of specifics on what you are trying to do and what is failing. (It's a weird system with a mix of ROS1 and ROS2 in Docker containers.). edit. The second part is the replacement for a matched name. remapping. (It's a weird system with a mix of ROS1 and ROS2 in Docker containers.). The text was updated successfully, but these errors were encountered: There's a unit test for rcl_remap_node_namespace(), but there's not an integration test for it https://github.com/ros2/rcl/blob/master/rcl/test/rcl/test_remap_integration.cpp, Yeah I have one prepared that fails, will open a pr for the test, On Tue., 19 Jun. I want action server to take data in the form of a dictionary from action client and push it to google sheet. In ROS 2, there are only one kind of parameters and they work differently. If this is not intended to work, then I think there should be a warning logged indicating that the remap failed. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace Note the remapping. In your first post, it appears to me that you are remapping topic on the wrong node. The latter is destroyed shortly after controller is started. ros2. davinci ( 2012-12-24 06:59:28 -0500) edit. Robot_localization doesnt work with Rosbag file. But it does not work. The remapping does not seem to work. Often the launch files from other included packages provide launch arguments to overwrite parameters, node names, namespaces, and sometimes topics. Topic remapping does not work in namespaced component nodes. As you could see during this tutorial, it's really easy to remap a topic. I am indeed remapping camera to camera1_ns But still not getting it to work.no camera1_ns is . Distro: Rolling I've been trying to remap the /joint_states topic for 2 "ComposableNodes" in a dual-arm system. I'm not sure what the difference is between these 2 nodes: /LeftArm/local_planner and /LeftArm/local_planner_private_1404999. 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