Add namespace feature to the Turtlebot3 bringup launch for multi robot control & changing target of ros ci to the main and humble branches

[GyuH13]

Description

This pull request merges the feature-multi-robot-control branch into the main branch, introducing namespace argument in TB3 bringup launch. This change in this branch makes namespace applied to topics, nodes and frames, allowing user to use multiple turtlebot3 in one remote PC.

Summary of Changes

• namespace argument is added in robot.launch.py
  • It is used in the PushRosNamespace() function, which applies the namespace to topics and nodes.
  • Also, it makes prefix of odom frame.
• namespace argument is added in turtlebot3_state_publisher.launch.py
  • It adds a prefix to the robot state frames (e.g., base_link, imu_link, etc.)
• wild card is added in burger.yaml,waffle.yaml,waffle_pi.yaml
  • It allows the reuse of parameters for each robot with a unique name.

Motivation

There are some Issue regarding the use of namespace and the feature to use namespace exists in kinetic. Also it has the potential to evolve into examples such as multi-robot navigation in the future.

Testing & Validation

This branch has been validated on the TurtleBot3 hardware with the Humble version and works properly

Note

It is necessary to change frame_id in header of scan topic defined in ld08_driver package and odom topic in turtlebot3_node package. Method for changing these will be described in e-manual soon.