robot_spawner -> nav2_gazebo_spawner

nav2_bringup/bringup/launch/spawn_tb3_launch.py

@@ -23,8 +23,8 @@ def generate_launch_description():
     return LaunchDescription([
         # TODO(orduno) might not be necessary to have it's own package
         launch_ros.actions.Node(
-            package='spawn_robot',
-            node_executable='spawn_robot',
+            package='nav2_gazebo_spawner',
+            node_executable='nav2_gazebo_spawner',
             output='screen',
             arguments=[
                 '--robot_name', launch.substitutions.LaunchConfiguration('robot_name'),

nav2_bringup/spawn_robot/spawn_robot/spawn_robot.py → nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py

@@ -25,7 +25,7 @@ import rclpy
 
 def main():
     # Get input arguments from user
-    parser = argparse.ArgumentParser(description='Spawn Robot into Gazebo')
+    parser = argparse.ArgumentParser(description='Spawn Robot into Gazebo with navigation2')
     parser.add_argument('-n', '--robot_name', type=str, default='robot',
                         help='Name of the robot to spawn')
     parser.add_argument('-ns', '--robot_namespace', type=str, default='robot',

nav2_bringup/spawn_robot/package.xml → nav2_bringup/nav2_gazebo_spawner/package.xml

 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>spawn_robot</name>
+  <name>nav2_gazebo_spawner</name>
   <version>0.2.4</version>
-  <description>Package for spawning a robot model into Gazebo</description>
+  <description>Package for spawning a robot model into Gazebo for navigation2</description>
   <maintainer email="carlos.orduno@intel.com">lkumarbe</maintainer>
   <maintainer email="lalit.kumar.begani@intel.com">lkumarbe</maintainer>
   <license>Apache-2.0</license>

nav2_bringup/nav2_gazebo_spawner/setup.cfg

+[develop]
+script-dir=$base/lib/nav2_gazebo_spawner
+[install]
+install-scripts=$base/lib/nav2_gazebo_spawner

nav2_bringup/spawn_robot/setup.py → nav2_bringup/nav2_gazebo_spawner/setup.py

 from setuptools import setup
 
-PACKAGE_NAME = 'spawn_robot'
+PACKAGE_NAME = 'nav2_gazebo_spawner'
 
 setup(
     name=PACKAGE_NAME,
@@ -16,7 +16,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'spawn_robot = spawn_robot.spawn_robot:main',
+            'nav2_gazebo_spawner = nav2_gazebo_spawner.nav2_gazebo_spawner:main',
         ],
     },
 )

nav2_bringup/spawn_robot/setup.cfg

-[develop]
-script-dir=$base/lib/spawn_robot
-[install]
-install-scripts=$base/lib/spawn_robot

nav2_system_tests/src/system/test_multi_robot_launch.py

@@ -61,8 +61,8 @@ def generate_launch_description():
     for robot in robots:
         spawn_robots_cmds.append(
             Node(
-                package='spawn_robot',
-                node_executable='spawn_robot',
+                package='nav2_gazebo_spawner',
+                node_executable='nav2_gazebo_spawner',
                 output='screen',
                 arguments=[
                     '--robot_name', TextSubstitution(text=robot['name']),