Alexey Merzlyakov

The problem appears due to incorrect composition container (starting in the `bringup_launch.py`) name handling. Composable nodes do not not address this name relatively to their namespace, so we need to...

The option to set the namespace in the [navigation_launch.py](https://github.com/ros-planning/navigation2/blob/main/nav2_bringup/launch/navigation_launch.py#L197) will also work. We also need in this case also do this for `localization_launch.py` as well. However, the meaning of `container_name`...

Moving the discussion of problem No.2 from separate ticket to here (to not lose the thread): When running two or more component nodes inside one container with some non-empty root...

For the second issue, opened a new bug on ROS2 launch: https://github.com/ros2/launch_ros/issues/344

> I see that your zip file in the launch ticket has the yaml file with the namespace already in it without rewritten yaml, so I suspect you already did...

Problem No.3 detected on multi-robot launch: BT node loading failed due to unrecognized `WouldAPlannerRecoveryHelp` node: ``` $ ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False use_namespace:=True namespace:=robot1 params_file:=${HOME}/nav2_ws/src/navigation2/nav2_bringup/params/nav2_multirobot_params_1.yaml rviz_config_file:=${HOME}/nav2_ws/src/navigation2/nav2_bringup/rviz/nav2_namespaced_view.rviz use_composition:=False ... [planner_server-11] [INFO]...

Problem No.4 detected on multi-robot launch: Robots are being started, but the local costmap is empty as follows on the screenshot below:  Local costmap is not being updated due...

> .... and that works for us? One root namespace is that exactly `RewrittenYaml` produces, and this did not initially not work for us in composition nodes case. If take...

The Issue2 seems to be fixed by the [following patch](https://github.com/ros2/launch_ros/pull/347) in `launch_ros`: ``` diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py index 534ec7e..6aad203 100644 --- a/launch_ros/launch_ros/utilities/to_parameters_list.py +++ b/launch_ros/launch_ros/utilities/to_parameters_list.py @@ -48,8 +48,8 @@ def __normalize_parameters_dict(dictionary):...

Now multi-TB3 simulation works fine after all fixes were applied.