Updated launch and rviz files to a namespace

config/adc_sim/basler_camera_sim_config.yaml

 horizontal_fov: 2.25
-width: 640
-height: 480
+width: 1280
+height: 960
 format: 'R8G8B8'
 clip_near: 0.1
 clip_far: 100

launch/adc_global_localization.launch

@@ -18,28 +18,30 @@
   <arg name="amcl_config"                 default="$(find iri_adc_launch)/config/adc_rosnav/amcl_no_tf.yaml"/>
 
   <!-- Ar track alvar (bringup??) -->
-  <node name="ar_track_alvar" 
-        pkg="ar_track_alvar" 
-        type="individualMarkersNoKinect" 
-        respawn="false" 
-        output="screen">
-    <param name="marker_size"           type="double" value="$(arg marker_size)" />
-    <param name="max_new_marker_error"  type="double" value="0.08" />
-    <param name="max_track_error"       type="double" value="0.2" />
-    <param name="output_frame"          type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
-    <remap from="/camera_image"     to="$(arg car_name)/sensors/basler_camera/image_raw" />
-    <remap from="/camera_info"      to="$(arg car_name)/sensors/basler_camera/camera_info" />
-    <remap from="/ar_pose_marker"   to="/$(arg car_name)/ar_pose_marker" />
-  </node>
+  <group ns="$(arg car_name)">
+    <node name="ar_track_alvar" 
+          pkg="ar_track_alvar" 
+          type="individualMarkersNoKinect" 
+          respawn="false" 
+          output="screen">
+      <param name="marker_size"           type="double" value="$(arg marker_size)" />
+      <param name="max_new_marker_error"  type="double" value="0.08" />
+      <param name="max_track_error"       type="double" value="0.2" />
+      <param name="output_frame"          type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
+      <remap from="/$(arg car_name)/camera_image"     to="/$(arg car_name)/sensors/basler_camera/image_raw" />
+      <remap from="/$(arg car_name)/camera_info"      to="/$(arg car_name)/sensors/basler_camera/camera_info" />
+      <remap from="/$(arg car_name)/ar_pose_marker"   to="/$(arg car_name)/ar_pose_marker" />
+    </node>
 
-  <include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
-    <arg name="node_name"         value="iri_adc_tag_localization_filter"/>
-    <arg name="output"            value="$(arg output)"/>
-    <arg name="launch_prefix"     value="$(arg launch_prefix)"/>
-    <arg name="config_file"       value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
-    <arg name="robot_name"        value="$(arg car_name)"/>
-    <arg name="ar_input_topic"    value="/$(arg car_name)/ar_pose_marker"/>
-  </include>
+    <include file="$(find iri_adc_tag_localization_filter)/launch/node.launch">
+      <arg name="node_name"         value="iri_adc_tag_localization_filter"/>
+      <arg name="output"            value="$(arg output)"/>
+      <arg name="launch_prefix"     value="$(arg launch_prefix)"/>
+      <arg name="config_file"       value="$(find iri_adc_tag_localization_filter)/config/params.yaml"/>
+      <arg name="robot_name"        value="$(arg car_name)"/>
+      <arg name="ar_input_topic"    value="/$(arg car_name)/ar_pose_marker"/>
+    </include>
+  </group>
 
   <include file="$(find iri_rosnav)/launch/include/map_server.launch">
     <arg name="ns"            value="$(arg car_name)"/>

rviz/localization_global.rviz

@@ -739,23 +739,23 @@ Visualization Manager:
       Displays:
         - Class: rviz/Marker
           Enabled: true
-          Marker Topic: /visualization_marker
+          Marker Topic: /adc_car/visualization_marker
           Name: Alvar_marker
           Namespaces:
-            basic_shapes: true
+            {}
           Queue Size: 100
           Value: true
         - Class: rviz/MarkerArray
           Enabled: true
-          Marker Topic: /iri_adc_tag_localization_filter/vis_features
+          Marker Topic: /adc_car/iri_adc_tag_localization_filter/vis_features
           Name: Features
           Namespaces:
-            adc_car/front_camera_uvc_camera_optical_features: true
+            {}
           Queue Size: 100
           Value: true
         - Class: rviz/MarkerArray
           Enabled: true
-          Marker Topic: /iri_adc_landmarks_slam_solver/landmarks
+          Marker Topic: /adc_car/iri_adc_landmarks_slam_solver/landmarks
           Name: Landmarks
           Namespaces:
             {}