Remove hardcoded namespace from px4_config

mavros/launch/px4_config.yaml

@@ -1,25 +1,25 @@
 # Common configuration for PX4 autopilot
 #
-/mavros/**:
+/**:
   ros__parameters:
     startup_px4_usb_quirk: false
 
 # sys_status & sys_time connection options
-/mavros/**/conn:
+/**/conn:
     ros__parameters:
       heartbeat_rate: 1.0    # send heartbeat rate in Hertz
       timeout: 10.0          # heartbeat timeout in seconds
       timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
       system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
 # sys_status
-/mavros/**/sys:
+/**/sys:
   ros__parameters:
     min_voltage: [10.0]   # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
     disable_diag: false # disable all sys_status diagnostics, except heartbeat
 
 # sys_time
-/mavros/**/time:
+/**/time:
   ros__parameters:
     time_ref_source: fcu  # time_reference source
     timesync_mode: MAVLINK
@@ -28,15 +28,15 @@
 # --- mavros plugins (alphabetical order) ---
 
 # 3dr_radio
-/mavros/**/tdr_radio:
+/**/tdr_radio:
   ros__parameters:
     low_rssi: 40  # raw rssi lower level for diagnostics
 
 # actuator_control
 # None
 
 # command
-/mavros/**/cmd:
+/**/cmd:
   ros__parameters:
     use_comp_id_system_control: false # quirk for some old FCUs
 
@@ -47,7 +47,7 @@
 # None
 
 # global_position
-/mavros/**/global_position:
+/**/global_position:
   ros__parameters:
     frame_id: "map"             # origin frame
     child_frame_id: "base_link" # body-fixed frame
@@ -60,7 +60,7 @@
     tf.child_frame_id: "base_link" # TF child_frame_id
 
 # imu_pub
-/mavros/**/imu:
+/**/imu:
   ros__parameters:
     frame_id: base_link
     # need find actual values
@@ -70,7 +70,7 @@
     magnetic_stdev: 0.0
 
 # local_position
-/mavros/**/local_position:
+/**/local_position:
   ros__parameters:
     frame_id: "map"
     tf.send: false
@@ -85,12 +85,12 @@
 # None
 
 # setpoint_accel
-/mavros/**/setpoint_accel:
+/**/setpoint_accel:
   ros__parameters:
     send_force: false
 
 # setpoint_attitude
-/mavros/**/setpoint_attitude:
+/**/setpoint_attitude:
   ros__parameters:
     reverse_thrust: false     # allow reversed thrust
     use_quaternion: false     # enable PoseStamped topic subscriber
@@ -99,14 +99,14 @@
     tf.child_frame_id: "target_attitude"
     tf.rate_limit: 50.0
 
-/mavros/**/setpoint_raw:
+/**/setpoint_raw:
   ros__parameters:
     thrust_scaling: 1.0       # used in setpoint_raw attitude callback.
     # Note: PX4 expects normalized thrust values between 0 and 1, which means that
     # the scaling needs to be unitary and the inputs should be 0..1 as well.
 
 # setpoint_position
-/mavros/**/setpoint_position:
+/**/setpoint_position:
   ros__parameters:
     tf.listen: false           # enable tf listener (disable topic subscribers)
     tf.frame_id: "map"
@@ -115,15 +115,15 @@
     mav_frame: LOCAL_NED
 
 # setpoint_velocity
-/mavros/**/setpoint_velocity:
+/**/setpoint_velocity:
   ros__parameters:
     mav_frame: LOCAL_NED
 
 # vfr_hud
 # None
 
 # waypoint
-/mavros/**/mission:
+/**/mission:
   ros__parameters:
     pull_after_gcs: true  # update mission if gcs updates
     use_mission_item_int: true # use the MISSION_ITEM_INT message instead of MISSION_ITEM
@@ -140,9 +140,9 @@
 
 # distance_sensor
 ## Currently available orientations:
-#    Check http://wiki.ros.org/mavros/**/Enumerations
+#    Check http://wiki.ros.org/**/Enumerations
 ##
-/mavros/**/distance_sensor:
+/**/distance_sensor:
   ros__parameters:
     config: |
       hrlv_ez4_pub:
@@ -175,13 +175,13 @@
         orientation: PITCH_270
 
 # image_pub
-/mavros/**/image:
+/**/image:
   ros__parameters:
     frame_id: "px4flow"
 
 
 # fake_gps
-/mavros/**/fake_gps:
+/**/fake_gps:
   ros__parameters:
     # select data source
     use_mocap: true         # ~mocap/pose
@@ -204,7 +204,7 @@
 
 
 # landing_target
-/mavros/**/landing_target:
+/**/landing_target:
   ros__parameters:
     listen_lt: false
     mav_frame: "LOCAL_NED"
@@ -222,14 +222,14 @@
 
 
 # mocap_pose_estimate
-/mavros/**/mocap:
+/**/mocap:
   ros__parameters:
     # select mocap source
     use_tf: false   # ~mocap/tf
     use_pose: true  # ~mocap/pose
 
 # mount_control
-/mavros/**/mount:
+/**/mount:
   ros__parameters:
     debounce_s: 4.0
     err_threshold_deg: 10.0
@@ -238,41 +238,41 @@
     negate_measured_yaw: false
 
 # odom
-/mavros/**/odometry:
+/**/odometry:
   ros__parameters:
     fcu.odom_parent_id_des: "map"    # desired parent frame rotation of the FCU's odometry
     fcu.odom_child_id_des: "base_link"    # desired child frame rotation of the FCU's odometry
 
 # px4flow
-/mavros/**/px4flow:
+/**/px4flow:
   ros__parameters:
     frame_id: "px4flow"
     ranger_fov: 0.118682      # 6.8 degrees at 5 meters, 31 degrees at 1 meter
     ranger_min_range: 0.3     # meters
     ranger_max_range: 5.0     # meters
 
 # vision_pose_estimate
-/mavros/**/vision_pose:
+/**/vision_pose:
   ros__parameters:
     tf.listen: false           # enable tf listener (disable topic subscribers)
     tf.frame_id: "odom"
     tf.child_frame_id: "vision_estimate"
     tf.rate_limit: 10.0
 
 # vision_speed_estimate
-/mavros/**/vision_speed:
+/**/vision_speed:
   ros__parameters:
     listen_twist: true    # enable listen to twist topic, else listen to vec3d topic
     twist_cov: true       # enable listen to twist with covariance topic
 
 # vibration
-/mavros/**/vibration:
+/**/vibration:
   ros__parameters:
     frame_id: "base_link"
 
 
 # wheel_odometry
-/mavros/**/wheel_odometry:
+/**/wheel_odometry:
   ros__parameters:
     count: 2           # number of wheels to compute odometry
     use_rpm: false     # use wheel's RPM instead of cumulative distance to compute odometry
@@ -288,7 +288,7 @@
     tf.child_frame_id: "base_link"
 
 # camera
-/mavros/**/camera:
+/**/camera:
   ros__parameters:
     frame_id: "base_link"