Multiple robot support

[roni-kreinin]

Description

Adds namespacing support and the ability to spawn multiple robots.

Changes:

• Updated launch files:
  • ignition.launch.py: Launches just ignition gazebo and a /clock bridge
  • turtlebot4_spawn.launch.py: Spawns a namespaced robot. Requires that ignition.launch.py has already been launched.
  • turtlebot4_ignition.launch.py: Default launch file to spawn both ignition and one default robot (robot_name: turtlebot4, no namespace).
  • ros_ign_bridge.launch.py: Same as before
  • turtlebot4_nodes.launch.py: Same as before
• Updated GUI:
  • Added namespace input textbox
• Updated RGBD camera sensor frames and topics to match OAKD
• Removed navigation launch files from being included. They should be run separately now.

Depends on:

• Multi robot support iRobotEducation/create3_sim#207
• Added namespace arg to urdf for namespacing support in sim turtlebot4#123

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

How Has This Been Tested?

# Default
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py

# Spawn additional robot
ros2 launch turtlebot4_ignition_bringup turtlebot4_spawn.launch.py robot_name:=robot2

Checklist

• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation