Merge pull request #270 from gsalinas/can-namespace-pr

Put components loaded by the device container into its namespace, if any.

canopen_core/src/device_container.cpp

@@ -49,6 +49,14 @@ bool DeviceContainer::load_component(
       opts.use_global_arguments(false);
       opts.use_intra_process_comms(true);
       std::vector<std::string> remap_rules;
+
+      std::string can_ns = this->get_namespace();
+      if (!can_ns.empty())
+      {
+        remap_rules.push_back("--ros-args");
+        remap_rules.push_back("-r");
+        remap_rules.push_back("__ns:=" + can_ns);
+      }
       remap_rules.push_back("--ros-args");
       // remap_rules.push_back("--log-level");
       // remap_rules.push_back("debug");

canopen_tests/CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(lely_core_libraries REQUIRED)
 generate_dcf(simple)
 generate_dcf(canopen_system)
 cogen_dcf(cia402_system)
+cogen_dcf(cia402_namespaced_system)
 cogen_dcf(cia402)
 generate_dcf(cia402_lifecycle)
 cogen_dcf(cia402_diagnostics)

canopen_tests/ROS_NAMESPACES.md

@@ -0,0 +1,11 @@
+The `cia402_namespaced_system.launch.py` example demonstrates how to run a
+CIA402 system in a namespace to allow multiple CANOpen-based robots in the
+same ROS domain. This example is necessary because the controller names
+are picked up from `ros2_controllers.yaml` and we must define their names
+in that file with a `__namespace__/controller_name:` key, then use
+ReplaceString from `nav2_common` to dynamically add the namespace to the
+controller definition.
+
+For a proxy system, no example is included; it's sufficient to include, e.g.
+the `proxy_setup.launch.py` launch description in another launch file and
+push a namespace onto it with PushROSNamespace in the ordinary way.

canopen_tests/config/cia402_namespaced_system/bus.yml

@@ -0,0 +1,56 @@
+options:
+  dcf_path: "@BUS_CONFIG_PATH@"
+
+master:
+  node_id: 1
+  driver: "ros2_canopen::MasterDriver"
+  package: "canopen_master_driver"
+  sync_period: 10000
+
+defaults:
+  dcf: "cia402_slave.eds"
+  driver: "ros2_canopen::Cia402Driver"
+  package: "canopen_402_driver"
+  period: 10
+  revision_number: 0
+  sdo:
+    - {index: 0x60C2, sub_index: 1, value: 50} # Set interpolation time for cyclic modes to 50 ms
+    - {index: 0x60C2, sub_index: 2, value: -3} # Set base 10-3s
+    - {index: 0x6081, sub_index: 0, value: 1000}
+    - {index: 0x6083, sub_index: 0, value: 2000}
+  tpdo: # TPDO needed statusword, actual velocity, actual position, mode of operation
+    1:
+      enabled: true
+      cob_id: "auto"
+      transmission: 0x01
+      mapping:
+        - {index: 0x6041, sub_index: 0} # status word
+        - {index: 0x6061, sub_index: 0} # mode of operation display
+    2:
+      enabled: true
+      cob_id: "auto"
+      transmission: 0x01
+      mapping:
+        - {index: 0x6064, sub_index: 0} # position actual value
+        - {index: 0x606c, sub_index: 0} # velocity actual position
+    3:
+      enabled: false
+    4:
+      enabled: false
+  rpdo: # RPDO needed controlword, target position, target velocity, mode of operation
+    1:
+      enabled: true
+      cob_id: "auto"
+      mapping:
+      - {index: 0x6040, sub_index: 0} # controlword
+      - {index: 0x6060, sub_index: 0} # mode of operation
+    2:
+      enabled: true
+      cob_id: "auto"
+      mapping:
+      - {index: 0x607A, sub_index: 0} # target position
+      - {index: 0x60FF, sub_index: 0} # target velocity
+
+nodes:
+  cia402_device_1:
+    node_id: 2