hector_multi_robot_tools

Tools for ROS2 to make working in a multi-robot setup easier.

multi_robot_tool_launch

Defines wrappers for common ros tools to start them in a robot namespace and remappings for relative tf topics. The tool names are prefixed with "m".

Available tools: mrviz (rviz2), mrqt (rqt)

Examples:

mrviz athena

Start rviz in namespace /athena. There is auto-completion for available robot names.

If no parameter is provided, the command automatically detects available robots. If there is only one available, this namespace is used:

$ mrviz
Starting in namespace: /athena

If there are multiple available, the global namespace is used instead. Add the parameter --global to force the global namespace

mrviz --global

prefix_tf_republisher

Republishes a tf topic from a namespaced topic to the global one with a robot-specific prefix attached to the frame id. The frame prefix is automatically determined from the node's namespace or can be set with the frame_prefix parameter.

Parameters

• frame_prefix (string, default: node namespace)

  Override the automatically-determined frame prefix.

• global_frames (string[], default: [])

  List of global frames that are relayed without a prefix.

Subscribers & Publishers

The node subscribes to input_tf_topic and publishes to output_tf_topic which need to be remapped accordingly.

Example Usage

launch:
- arg:
    name: namespace
    default: ""
# republish tf
- node:
    pkg: "hector_multi_robot_tools"
    exec: "prefix_tf_republisher"
    name: "tf_republisher"
    namespace: "$(var namespace)"
    param:
        - name: "global_frames"
          value: ["world"]
    remap:
        - from: "input_tf_topic"
          to: "tf"
        - from: "output_tf_topic"
          to: "/tf"
# republish tf_static
- node:
    pkg: "hector_multi_robot_tools"
    exec: "prefix_tf_republisher"
    name: "tf_static_republisher"
    namespace: "$(var namespace)"
    param:
        - name: "global_frames"
          value: ["world"]
    remap:
        - from: "input_tf_topic"
          to: "tf_static"
        - from: "output_tf_topic"
          to: "/tf_static"