Restore cia402_system launch to original.

canopen_tests/launch/cia402_system.launch.py

@@ -30,7 +30,6 @@
 # Author: Lovro Ivanov [email protected]
 
 from launch import LaunchDescription
-import launch.actions
 from launch.actions import DeclareLaunchArgument
 from launch.actions import OpaqueFunction
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
@@ -39,17 +38,15 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
-from nav2_common.launch import ReplaceString
-from launch.actions import GroupAction
-from launch_ros.actions import PushROSNamespace
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
 
 def launch_setup(context, *args, **kwargs):
 
     name = LaunchConfiguration("name")
     prefix = LaunchConfiguration("prefix")
 
-    bot_ns = LaunchConfiguration("bot_ns")
-
     # bus configuration
     bus_config_package = LaunchConfiguration("bus_config_package")
     bus_config_directory = LaunchConfiguration("bus_config_directory")
@@ -101,7 +98,6 @@ def launch_setup(context, *args, **kwargs):
     )
     robot_description = {"robot_description": robot_description_content}
 
-
     # ros2 control configuration
     ros2_control_config_package = LaunchConfiguration("ros2_control_config_package")
     ros2_control_config_directory = LaunchConfiguration("ros2_control_config_directory")
@@ -115,48 +111,38 @@ def launch_setup(context, *args, **kwargs):
         ]
     )
 
-    ros2_control_config = ReplaceString(
-        source_file=ros2_control_config,
-        replacements={"__namespace__/":(bot_ns, "/")}
-    )
-
     # nodes to start are listed below
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[robot_description, ros2_control_config],
         output="screen",
-        namespace=bot_ns,
     )
 
     # load one controller just to make sure it can connect to controller_manager
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", PathJoinSubstitution([bot_ns, "controller_manager"]),
-                   "-n", PathJoinSubstitution([bot_ns])],
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
     )
 
     cia402_device_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["cia402_device_1_controller", "--controller-manager", PathJoinSubstitution([bot_ns, "controller_manager"]),
-                   "-n", PathJoinSubstitution([bot_ns])],
+        arguments=["cia402_device_1_controller", "--controller-manager", "/controller_manager"],
     )
 
     forward_position_controller = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["forward_position_controller", "--controller-manager", PathJoinSubstitution([bot_ns, "controller_manager"]),
-                   "-n", PathJoinSubstitution([bot_ns])],
+        arguments=["forward_position_controller", "--controller-manager", "/controller_manager"],
     )
 
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        namespace=bot_ns,
     )
 
     # hardcoded slave configuration form test package
@@ -175,8 +161,6 @@ def launch_setup(context, *args, **kwargs):
             "slave_config": slave_config,
         }.items(),
     )
-    slave_node_1 = GroupAction(actions=[PushROSNamespace(bot_ns),
-                                        slave_node_1])
 
     nodes_to_start = [
         control_node,
@@ -193,11 +177,6 @@ def launch_setup(context, *args, **kwargs):
 def generate_launch_description():
 
     declared_arguments = []
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "bot_ns", description="Namespace for these nodes", default_value=""
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "name", description="robot name", default_value="canopen_test_system"