Update rs_launch.py

add namespace launch argument
IntelRealSense · Jun 2, 2023 · eb7643e · eb7643e
1 parent dad99e5
commit eb7643e
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py
@@ -22,6 +22,7 @@
 
 
 configurable_parameters = [{'name': 'camera_name',                  'default': 'camera', 'description': 'camera unique name'},
+                           {'name': 'namespace',                    'default': '', 'description': 'namespace for camera'},
                            {'name': 'serial_no',                    'default': "''", 'description': 'choose device by serial number'},
                            {'name': 'usb_port_id',                  'default': "''", 'description': 'choose device by usb port id'},
                            {'name': 'device_type',                  'default': "''", 'description': 'choose device by type'},
@@ -94,7 +95,7 @@ def launch_setup(context, *args, **kwargs):
         return [
             launch_ros.actions.Node(
                 package='realsense2_camera',
-                node_namespace=LaunchConfiguration("camera_name"),
+                node_namespace=LaunchConfiguration("namespace"),
                 node_name=LaunchConfiguration("camera_name"),
                 node_executable='realsense2_camera_node',
                 prefix=['stdbuf -o L'],
@@ -109,7 +110,7 @@ def launch_setup(context, *args, **kwargs):
         return [
             launch_ros.actions.Node(
                 package='realsense2_camera',
-                namespace=LaunchConfiguration("camera_name"),
+                namespace=LaunchConfiguration("namespace"),
                 name=LaunchConfiguration("camera_name"),
                 executable='realsense2_camera_node',
                 parameters=[set_configurable_parameters(configurable_parameters)