From 6ef6e50cc8f2daaff6d259de00bccd8bde959188 Mon Sep 17 00:00:00 2001
From: X-lanni <weijun.xie@elephantrobotics.com>
Date: Sat, 21 Jun 2025 15:33:35 +0800
Subject: [PATCH] Add a namespace for multi-machine control

---
 .../launch/agv_pro_bringup.launch.py          | 10 +++-
 agv_pro_description/urdf/agv_pro.urdf         | 53 ++++++++++---------
 2 files changed, 37 insertions(+), 26 deletions(-)

diff --git a/agv_pro_bringup/launch/agv_pro_bringup.launch.py b/agv_pro_bringup/launch/agv_pro_bringup.launch.py
index 164a660..5f0854f 100644
--- a/agv_pro_bringup/launch/agv_pro_bringup.launch.py
+++ b/agv_pro_bringup/launch/agv_pro_bringup.launch.py
@@ -1,6 +1,6 @@
 import os
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch_ros.actions import Node,PushRosNamespace
 from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -26,6 +26,13 @@ def generate_launch_description():
             default_value=port_name_arg,
             description='port name, e.g. ttyACM0'),
 
+        DeclareLaunchArgument(
+            'namespace',
+            default_value='',
+            description='Namespace for nodes'),
+
+        PushRosNamespace(namespace),
+
         Node(
             package='agv_pro_base',
             executable='agv_pro_node',
@@ -35,6 +42,7 @@ def generate_launch_description():
                 'port_name': port_name_arg,
                 'namespace': namespace,             
             }],
+            remappings=[('cmd_vel', '/cmd_vel')]
         ),
 
         Node(
diff --git a/agv_pro_description/urdf/agv_pro.urdf b/agv_pro_description/urdf/agv_pro.urdf
index c5eee35..df01bf4 100755
--- a/agv_pro_description/urdf/agv_pro.urdf
+++ b/agv_pro_description/urdf/agv_pro.urdf
@@ -1,15 +1,18 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <link name="base_footprint"/>
+  <xacro:arg name="namespace" default=""/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
+  <link name="${namespace}base_footprint"/>
+
+  <joint name="${namespace}base_joint" type="fixed">
+    <parent link="${namespace}base_footprint"/>
+    <child link="${namespace}base_link" />
     <origin xyz="0 0 0.020" rpy="0 0 0"/>
   </joint>
 
-  <link name="base_link">
+  <link name="${namespace}base_link">
     <inertial>
       <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
       <mass value="19.236" />
@@ -37,7 +40,7 @@
     </collision>
   </link>
 
-  <link name="right_rear_wheel_link">
+  <link name="${namespace}right_rear_wheel_link">
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <mass value="0.21659" />
@@ -66,14 +69,14 @@
     </collision>
   </link>
   
-  <joint name="right_rear_wheel_joint" type="continuous">
+  <joint name="${namespace}right_rear_wheel_joint" type="continuous">
     <origin xyz="-0.171806101587598 -0.179900399999999 0.0518836514526621" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="right_rear_wheel_link" />
+    <parent link="${namespace}base_link" />
+    <child link="${namespace}right_rear_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="right_front_wheel_link">
+  <link name="${namespace}right_front_wheel_link">
     <inertial>
       <origin xyz="6.6563E-05 -0.019725 8.3836E-05" rpy="0 0 0" />
       <mass value="0.21659122149244" />
@@ -100,15 +103,15 @@
     </collision>
   </link>
   
-  <joint name="right_front_wheel_joint" type="continuous">
+  <joint name="${namespace}right_front_wheel_joint" type="continuous">
     <origin xyz="-0.17181 0.1799 0.051884"
       rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="right_front_wheel_link" />
+    <parent link="${namespace}base_link" />
+    <child link="${namespace}right_front_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="left_front_wheel_link">
+  <link name="${namespace}left_front_wheel_link">
     <inertial>
       <origin xyz="1.4671E-06 -0.019803 4.3218E-06" rpy="0 0 0" />
       <mass value="0.3015" />
@@ -135,15 +138,15 @@
     </collision>
   </link>
   
-  <joint name="left_front_wheel_joint" type="continuous">
+  <joint name="${namespace}left_front_wheel_joint" type="continuous">
     <origin xyz="0.17128 0.1799 0.052"
       rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="left_front_wheel_link" />
+    <parent link="${namespace}base_link" />
+    <child link="${namespace}left_front_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="left_rear_wheel_link">
+  <link name="${namespace}left_rear_wheel_link">
     <inertial>
       <origin xyz="-2.4454E-06 0.019725 -4.3121E-06" rpy="0 0 0" />
       <mass value="0.29613" />
@@ -170,14 +173,14 @@
     </collision>
   </link>
   
-  <joint name="left_rear_wheel_joint" type="continuous">
+  <joint name="${namespace}left_rear_wheel_joint" type="continuous">
     <origin xyz="0.17128 -0.1799 0.052" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="left_rear_wheel_link" />
+    <parent link="${namespace}base_link" />
+    <child link="${namespace}left_rear_wheel_link" />
     <axis xyz="0 1 0" />
   </joint>
   
-  <link name="laser_link">
+  <link name="${namespace}laser_link">
     <inertial>
       <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
       <mass value="0.049095" />
@@ -204,9 +207,9 @@
     </collision>
   </link>
   
-  <joint name="lidar_joint" type="fixed">
+  <joint name="${namespace}lidar_joint" type="fixed">
     <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="laser_link" />
+    <parent link="${namespace}base_link" />
+    <child link="${namespace}laser_link" />
   </joint>
 </robot>
\ No newline at end of file