Simplify namespaced bringups and multirobot sim

nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py

@@ -80,7 +80,7 @@ def generate_launch_description():
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
         default_value=os.path.join(
-            bringup_dir, 'params', 'nav2_multirobot_params_all.yaml'
+            bringup_dir, 'params', 'nav2_params.yaml'
         ),
         description='Full path to the ROS2 parameters file to use for all launched nodes',
     )
@@ -93,7 +93,7 @@ def generate_launch_description():
 
     declare_rviz_config_file_cmd = DeclareLaunchArgument(
         'rviz_config',
-        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
         description='Full path to the RVIZ config file to use.',
     )
 

nav2_bringup/launch/rviz_launch.py

@@ -18,12 +18,10 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
-from launch.conditions import IfCondition, UnlessCondition
 from launch.event_handlers import OnProcessExit
 from launch.events import Shutdown
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from nav2_common.launch import ReplaceString
 
 
 def generate_launch_description():
@@ -32,7 +30,6 @@ def generate_launch_description():
 
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
-    use_namespace = LaunchConfiguration('use_namespace')
     rviz_config_file = LaunchConfiguration('rviz_config')
     use_sim_time = LaunchConfiguration('use_sim_time')
 
@@ -46,12 +43,6 @@ def generate_launch_description():
         ),
     )
 
-    declare_use_namespace_cmd = DeclareLaunchArgument(
-        'use_namespace',
-        default_value='false',
-        description='Whether to apply a namespace to the navigation stack',
-    )
-
     declare_rviz_config_file_cmd = DeclareLaunchArgument(
         'rviz_config',
         default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
@@ -65,68 +56,37 @@ def generate_launch_description():
 
     # Launch rviz
     start_rviz_cmd = Node(
-        condition=UnlessCondition(use_namespace),
         package='rviz2',
         executable='rviz2',
+        namespace=namespace,
         arguments=['-d', rviz_config_file],
         output='screen',
         parameters=[{'use_sim_time': use_sim_time}],
-    )
-
-    namespaced_rviz_config_file = ReplaceString(
-        source_file=rviz_config_file,
-        replacements={'<robot_namespace>': ('/', namespace)},
-    )
-
-    start_namespaced_rviz_cmd = Node(
-        condition=IfCondition(use_namespace),
-        package='rviz2',
-        executable='rviz2',
-        namespace=namespace,
-        arguments=['-d', namespaced_rviz_config_file],
-        parameters=[{'use_sim_time': use_sim_time}],
-        output='screen',
         remappings=[
-            ('/map', 'map'),
             ('/tf', 'tf'),
             ('/tf_static', 'tf_static'),
-            ('/goal_pose', 'goal_pose'),
-            ('/clicked_point', 'clicked_point'),
-            ('/initialpose', 'initialpose'),
         ],
     )
 
     exit_event_handler = RegisterEventHandler(
-        condition=UnlessCondition(use_namespace),
         event_handler=OnProcessExit(
             target_action=start_rviz_cmd,
             on_exit=EmitEvent(event=Shutdown(reason='rviz exited')),
         ),
     )
 
-    exit_event_handler_namespaced = RegisterEventHandler(
-        condition=IfCondition(use_namespace),
-        event_handler=OnProcessExit(
-            target_action=start_namespaced_rviz_cmd,
-            on_exit=EmitEvent(event=Shutdown(reason='rviz exited')),
-        ),
-    )
-
     # Create the launch description and populate
     ld = LaunchDescription()
 
     # Declare the launch options
     ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_namespace_cmd)
     ld.add_action(declare_rviz_config_file_cmd)
     ld.add_action(declare_use_sim_time_cmd)
 
     # Add any conditioned actions
     ld.add_action(start_rviz_cmd)
-    ld.add_action(start_namespaced_rviz_cmd)
 
     # Add other nodes and processes we need
     ld.add_action(exit_event_handler)
-    ld.add_action(exit_event_handler_namespaced)
 
     return ld

nav2_bringup/launch/unique_multi_tb3_simulation_launch.py

@@ -99,15 +99,15 @@ def generate_launch_description():
     declare_robot1_params_file_cmd = DeclareLaunchArgument(
         'robot1_params_file',
         default_value=os.path.join(
-            bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'
+            bringup_dir, 'params', 'nav2_params.yaml'
         ),
         description='Full path to the ROS2 parameters file to use for robot1 launched nodes',
     )
 
     declare_robot2_params_file_cmd = DeclareLaunchArgument(
         'robot2_params_file',
         default_value=os.path.join(
-            bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'
+            bringup_dir, 'params', 'nav2_params.yaml'
         ),
         description='Full path to the ROS2 parameters file to use for robot2 launched nodes',
     )
@@ -120,7 +120,7 @@ def generate_launch_description():
 
     declare_rviz_config_file_cmd = DeclareLaunchArgument(
         'rviz_config',
-        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'),
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
         description='Full path to the RVIZ config file to use.',
     )