Shared between Simulation and Deployment
waypoint geometry_msgs/PoseStamped
waypoint_tobest geometry_msgs/PoseStamped # Not used yet
reached std_msgs/String
Topic names are all lower cases by convention.
Note that the topics are not global names.
For deployment, we can specify environment variable ROS_NAMESPACE
for each
device so that ros_launch
will append a prefix to the topics.
That is the topic at runtime becomes /{ROS_NAMESPACE}/waypoint
.
ROS_NAMESPACE
should be set with an unique ROS name such as IP with port.
In the simulator, *.launch
is auto-generated.
We explicitly generate a namespace for each simulated agent.
E.g., the topic waypoint
becomes /{AGENTID}/waypoint
in simulation
with the unique AGENTID
as the namespace.
See Remapping Arguments for more detail.