[EN] Node, Topic and Namespace

The Turtlebot has 46 topics, dispatched between the raspberry pi and the create board.

Because we used multiple robots on the same wifi network, we had to use a namespace: The namespace for a given robot should be the same between it's raspberry and its create3

Note that namespace shall not contain -, use _ instead

You can find more information about the constraints of namespaces here here

Changing Namespaces

Rasberry-pi

To update the namespace we used the turtlebot4-setup script (This really only edits the file at /etc/turtlebot/setup.bash )

Create3

The modification of the namespace trough the script should also change the create3 namespace, but you can check using the web interface ip-pi:8080

Namespace

We chose the following namespaces for our robots

/pro_1
/pro_2
/lite_1

Before launching any command, if you machine doesn't have the same namespace as one of the robot, you shall specify it In case of a launch file: ros2 launch something namespace:=/robot_namespace

For a run or any other command: ros2 run package_name package_function --ros-args --remap __ns:=/robot_namespace

⚠️ Be careful with Rviz, it seems like you have to manually reassign each topic name in the left panel