Wrappers for common ros tools to start them in a robot namespace

CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(hector_multi_robot_tools)
+
+# Find necessary packages
+find_package(ament_cmake REQUIRED)
+
+if (WIN32)
+  message(FATAL_ERROR "Windows is currently not supported.")
+else()
+  ament_environment_hooks(env_hooks/50.scripts.bash.in)
+endif()
+
+# Install directories
+install(DIRECTORY
+  launch
+  scripts
+  env_hooks
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
+

env_hooks/50.scripts.bash.in

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+source @CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@/scripts/multi_robot_tool_launch.bash

launch/tool_namespace.launch.yaml

@@ -0,0 +1,19 @@
+launch:
+- arg:
+    name: pkg
+- arg:
+    name: exec
+- arg:
+    name: namespace
+    default: ""
+
+- node:
+    pkg: "$(var pkg)"
+    exec: "$(var exec)"
+    # name: "name"
+    namespace: "$(var namespace)"
+    remap:
+        - from: "/tf"
+          to: "tf"
+        - from: "/tf_static"
+          to: "tf_static"

package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hector_multi_robot_tools</name>
+  <version>0.0.0</version>
+  <description>Tools for ROS2 to make working in a multi-robot setup easier.</description>
+  <maintainer email="[email protected]">Martin Oeler</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

scripts/multi_robot_tool_launch.bash

@@ -0,0 +1,97 @@
+# multi_robot_tool_launch.bash - Defines wrappers for common ros tools to start them in a robot namespace
+
+# Function to get valid robot names by searching for robot_description topic
+get_robot_names() {
+    ros2 topic list | grep robot_description | awk -F'/' '{print $2}'
+}
+
+# Function to display help message
+show_help() {
+    local func_name="$1"
+    echo "Usage: $func_name [--global] [<robot_name>]"
+    echo ""
+    echo "Options:"
+    echo "  --global        Start in the global namespace, ignoring available robot names"
+    echo "  <robot_name>    Start with the specified robot namespace"
+    echo "  -h, --help      Show this help message"
+}
+
+# Run ROS2 tool with appropriate parameters
+run_ros_tool() {
+    local pkg_name="$1"
+    local exec_name="$2"
+    local robot_name="$3"
+    local cmd="ros2 launch hector_multi_robot_tools tool_namespace.launch.yaml pkg:=${pkg_name} exec:=${exec_name}"
+
+    if [ -n "$robot_name" ]; then
+        cmd+=" namespace:=/${robot_name}"
+        echo "Starting in namespace: /${robot_name}"
+    else
+        echo "Starting in namespace: /"
+    fi
+
+    eval "$cmd"
+}
+
+ros_tool() {
+    local func_name="$1"
+    local pkg_name="$2"
+    local exec_name="$3"
+    shift
+    shift
+    shift
+
+    # Process command line options
+    if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
+        show_help "$func_name"
+        return
+    fi
+
+    if [ "$1" == "--global" ]; then
+        run_ros_tool "${pkg_name}" "${exec_name}"  # Force global namespace
+        return
+    fi
+
+    if [ -n "$1" ]; then
+        # If a robot name is provided as an argument, use it directly
+        run_ros_tool "${pkg_name}" "${exec_name}" "$1"
+    else
+        # No robot name provided, check available robots
+        local robot_names=($(get_robot_names))
+        local robot_count=${#robot_names[@]}
+
+        if [ "$robot_count" -eq 1 ]; then
+            # If exactly one robot is available, use it automatically
+            run_ros_tool "${pkg_name}" "${exec_name}" "${robot_names[0]}"
+        else
+            # If multiple robots exist, run in global namespace
+            run_ros_tool "${pkg_name}" "${exec_name}"
+        fi
+    fi
+}
+
+# Bash completion function for robot names and options
+_ros_tool_completion() {
+    local cur="${COMP_WORDS[COMP_CWORD]}"
+    local options="--global --help -h"
+
+    # Provide completion options only for first argument
+    if [ ${#COMP_WORDS[@]} -eq 2 ]; then
+        local robot_names=$(get_robot_names)
+        COMPREPLY=($(compgen -W "${robot_names} ${options}" -- "${cur}"))
+    fi
+}
+
+# Wrappers
+
+# rqt function wrapper
+mrqt() {
+    ros_tool "$FUNCNAME" rqt_gui rqt_gui "$@"
+}
+complete -F _ros_tool_completion mrqt
+
+# rviz function wrapper
+mrviz() {
+    ros_tool "$FUNCNAME" rviz2 rviz2 "$@"
+}
+complete -F _ros_tool_completion mrviz