ROS namespaces

edit

can you run rostopic list after running your launch file and then cp the result?

If your nodelets are implemented as is most common, i.e. your subscribers are something along the line of

nh = ros::NodeHandle(); sub_ = nh.subscribe<TYPE>("sensors/sensor1", ...);

your node subscribes always to topics relative to the nodes namespace. Thus, after putting them in a group, the nodelet would subscribe to /ld1/sensors/sensor1. You can simply add a remap to the node tags in your launch file to solve this.

If it is published under /ld1/sensors/sensor1 should not I at least see this topic in rostopic list? I see only /sensors/sensor1 topics which have publishers but no subscribers. Moreover, I tried adding ramap inside node tags in such manner:

<group ns="ld1">
    <node pkg="nodelet" type="nodelet" name="my_nodelet2" args="load MyNodelet nodelet_manager">
    <remap from="/ld1/sensors/sensor1" to="/sensors/sensor1"/>
</group>

I tried to put remap outside of namespaces

...
 </group>
<remap from="/ld1/sensors/sensor1" to="/sensors/sensor1"/>

But nothing worked. How should it be done correctly?

If it is published under /ld1/sensors/sensor1 should not I at least see this topic in rostopic list?

Yes, you should.

I see only /sensors/sensor1 topics which have publishers but no subscribers.

So, where are the topics of your nodes ending up? Please post the output of rosnode info/your/node/let`.

How should it be done correctly?

from is how the topic is specified in your publisher/subscriber. Take care of leading slashes. to is what it should be in the ROS system.

There are no /nodelet_manager/bond subscriptions and publications. The same with /ld2/my_nodelet2.

Node [/ld1/my_nodelet1]
Publications: 
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /ld1/my_nodelet1/get_loggers
 * /ld1/my_nodelet1/set_logger_level

contacting node http://10.0.40.32:54486/ ...
Pid: 7407
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS

Moreover, my nodelets within the namespaces fail after several seconds with "bond broken" error, while everything is alright with them, when there are no namespace. The difference is only in <group ns="ld"> tag surrounding the node tag.

I have my nodelet implemented in such way, if it is important: nh = getMTNodeHandle();distanceSub = nh.subscribe("sensors/sensor1", ...)

I tried writing nh = ros::NodeHandle(); and it stopped crashing, but it still does not have any /nodelet_manager/bond publications or subscriptions, as a nodelet outside of any namepace does.