amcl not publishing map -> odom under different namespace
Hello,
I'm attempting to setup a pair of turtlebots that can run simultaneously, and in order to do so, they need to run their nodes on different namespaces while both subscribing to a shared /map topic. I've essentially been trying to apply this guide to real turtlebots. However, I've been facing this issue where amcl is not publishing from map -> odom even though it has all of its necessary prerequisites. I've narrowed it down to being an issue of the namespace change since I am able to run essentially the same code with no issue when the topics don't have a namespace argument in front. I've been trying to figure out where the loose end is but have so far been unsuccessful. My launch files are below:
multi.launch
<launch>
<param name="/use_sim_time" value="false"/>
<node pkg="map_server" type="map_server" name="map_server" args="/home/nvidia/maps/serc.yaml">
<param name="frame_id" value="/map"/>
</node>
<include file="/home/nvidia/Desktop/launch/multi_nav.launch">
<arg name="robot_name" value="robot1" />
</include>
</launch>
multi_nav.launch
<launch>
<arg name="robot_name" default="robot1"/>
<group ns="$(arg robot_name)">
<arg name="viz" default="false"/>
<arg name="base" default="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, rhoomba -->
<arg name="stacks" default="$(optenv TURTLEBOT_STACKS hexagons)"/> <!-- circles, hexagons -->
<arg name="3d_sensor" default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/> <!-- kinect, asus_xtion_pro -->
<arg name="serialport" default="$(optenv TURTLEBOT_SERIAL_PORT)"/>
<param name="tf_prefix" value="$(arg robot_name)"/>
<!-- ***************** Robot Model ***************** -->
<include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
</include>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="false"/>
</node>
<!-- Command Velocity multiplexer -->
<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="mobile_base" args="load kobuki_node/KobukiNodelet mobile_base_nodelet_manager">
<rosparam file="$(find kobuki_node)/param/base.yaml" command="load"/>
<param name="odom_frame" value="$(arg robot_name)/odom"/>
<param name="base_frame" value="$(arg robot_name)/base_footprint"/>
<param name="device_port" value="$(arg serialport)" />
<remap from="mobile_base/odom" to="/$(arg robot_name)/odom"/>
<!-- Don't do this - force applications to use a velocity mux for redirection
<remap from="mobile_base/commands/velocity" to="cmd_vel"/>
-->
<remap from="mobile_base/enable" to="enable"/>
<remap from="mobile_base/disable" to="disable"/>
<remap from="mobile_base/joint_states" to="/$(arg robot_name)/joint_states"/>
</node>
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
</node>
<include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>
<!-- ************** Navigation *************** -->
<!--include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/-->
<!-- rosrun tf static_transform_publisher 0 0 0 0 0 0 base_ftprint laser 100 -->
<node pkg ...
What does your TF tree look like?
How did you solve the original problem posed? I am facing the same problem where AMCL is not broadcasting from map -> odom when base_frame_id and odom_frame_id have a namespace argument in front.