[Release] Spawning multiple instances of clients for remote sessions

[DhruvKoolRajamani]

Refer to the thread to setup multiple rosmasters.

• Modify current namespace schema /ambf/env/ to /ambf/user_envNo/env/
• Allow -p port to be specified for ambf client instances.

[adnanmunawar]

I tested running multiple roscores on the same machine and multiple instances of AMBF and they work as expected.

Usage

Terminal 1
roscore -p <first_port_num>

Terminal 2
export ROS_MASTER_URI=http://localhost:<first_port_number>
./ambf_simulator <any necessary CLIs>

Terminal 3
roscore -p <second_port_num>

Terminal 4
export ROS_MASTER_URI=http://localhost:<second_port_number>
./ambf_simulator <any necessary CLIs>

and so on ...

NOTE: Make sure to export the correct ROS_MASTER_URI's on all the terminals running the Python AMBF client to connect to the proper roscore and AMBF instance.

[adnanmunawar]

This commit f9db777 allows a user to run ambf with the CLI arg --ns and specify a forced prefix to the namespace.
Usage:

./ambf_simulator <desired_adf_files> --ns /test/

This will result in the string "/test/" to be appended to all the topics regardless of whether or not they are specified in the relevant ADF files with an absolute namespace (e.g. "/ambf/env/").