Spawning via gazebo_ros spawn_entity seems to not put /tf into namespace

edit

It should look similar to this:

• In your launch files:

  remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]

• and then in each of your nodes using /tf:

  Node(
      package='your_package',
      executable='your_package_executable',
      namespace=namespace,
      parameters=[parameters],
      remappings=remappings
  ),
  

• in your urdf.xacro you should have:

<xacro:property name="robot_namespace" value="/$(arg namespace)"/>

• in your YAML config files for e.g. Nav2 and in Python launchers - use from launch.substitutions import LaunchConfiguration, PythonExpression, Command, TextSubstitution and from nav2_common.launch import ReplaceString, RewrittenYaml, something like:

odom_topic: /namespace/odom etc. in YAML and namespaced_params= ReplaceString(source_file=param_dir, replacements={"/namespace":("/",namespace)}) in Python launch files.

I used it to distinguish themes, services and actions for two and more robots in ROS2 Gazebo simulation. It works ok, so I think such a thing should be at least acceptable :)