Namespace issue with differential drive controller when yaml file is passed in the robot xacro.

[suchetanrs]

---

I want to spawn 'n' robots in Gazebo and all use the differential drive controller. My yaml file is below. I am calling gazebo_ros2_control from the xacro file. This part of my xacro is also added below. The problem is as follows: left_wheel_names and right_wheel_names parameters are required to be written in the yaml file. These names are dependent on the namespaces of the robots. Like so, left_wheel_names: ['robot_ns/front_left_wheel', 'robot_ns/rear_left_wheel']. I believe this cannot be passed dynamically through the yaml file but can be through the xacro. This issue did not occur with the base_frame_id and the odom_frame_id parameters since I used the "/**" at the start of the yaml and the frame_id was automatically set to "robot_ns/base_link". Can something similar to this be done for the left_wheel_names and the right_wheel_names?

yaml file is called in the xacro as follows:

<gazebo>
  <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
    <namespace>${robot_namespace}</namespace>
    <robot_param>robot_description</robot_param>
    <robot_param_node>robot_state_publisher</robot_param_node>
    <parameters>package://scout_description/config/scout_control.yaml</parameters>
  </plugin>
</gazebo>

the yaml file is as follows

/**:
  controller_manager:
    ros__parameters:
      update_rate: 100

      joint_state_broadcaster:
        type: joint_state_broadcaster/JointStateBroadcaster

      diff_drive_controller:
        type: diff_drive_controller/DiffDriveController

  diff_drive_controller:
    ros__parameters:
      left_wheel_names: ['robot_ns/front_left_wheel', 'robot_ns/rear_left_wheel']
      right_wheel_names: ['robot_ns/front_right_wheel', 'robot_ns/rear_right_wheel']

      wheel_separation: 0.50
      wheels_per_side: 2
      wheel_radius: 0.165
      wheel_separation_multiplier: 1.0

      pose_covariance_diagonal: [0.001, 0.001, 0.0, 0.0, 0.0, 0.03]
      twist_covariance_diagonal: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.001]

      enable_odom_tf: true
      publish_rate: 50.0

      open_loop: false

      cmd_vel_timeout: 0.5
      use_stamped_vel: false
      velocity_rolling_window_size: 10

      preserve_turning_radius: true

      # Publish limited velocity
      publish_limited_velocity: true

      linear/x:
        has_velocity_limits: true
        max_velocity: 1.0
        has_acceleration_limits: true
        max_acceleration: 3.0

      angular/z:
        has_velocity_limits: true
        max_velocity: 2.0
        has_acceleration_limits: true
        max_acceleration: 6.0