Ability to specify namespace of robot_description about ros_controllers HOT 6 CLOSED

The model we've been using is that every robot has it's own controller manager, with it's own set of hardware interfaces and it's own set controllers. In that model, each robot is namespaced, and every robot has a robot_description parameter in its own namespace. I think this model would also transfer to the gazebo world, with a controller manager plugin for each robot that is simulated.

As a second note, we can pass configuration parameters to each controller through the parameter server; it doesn't necessarily need to be passed on by the controller manager. But I'm hoping this won't be necessary if the above model can be applied to your use case.

from ros_controllers.

I agree with all of the above.

In that model, each robot is namespaced, and every robot has a robot_description parameter in its own namespace.

The problem is urdf.initParam() uses a non-namespaced nodehandle. See model.cpp

from ros_controllers.

As an aside, maybe urdf.initParam() could be overloaded to take a nodehandle or namespace string.

from ros_controllers.

I agree.

from ros_controllers.

+1 for fixing urdf.initParam().

As a workaround for now, you can use the urdf.initString() method in your controllers, and explicitly get the robot_description parameter from the controller manager nodehandle. So you basically implement the correct behavior of initParam() in the controller.

from ros_controllers.

Fixed in merge.

from ros_controllers.