Are ROS2 namespaces fully supported by Matlab/simulink?

I'm currently working with ros2 nodes generated from simulink, and I need several instances of these nodes with different names running in the same network.

Using Humble, R2023b and Ubuntu 22.04 I don't need the workaround used in this previous question to launch each node.

https://es.mathworks.com/matlabcentral/answers/1731070-use-ros2-launch-file-to-run-multiple-instances-of-matlab-generated-ros2-nodes

However, the namespace is only applied to the node name, not to the topics.

Is it a bug? Or is this functionality still in development?

Just in case, I add the python launch file:

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration



def generate_launch_description():

  # Declare the namespace launch argument
  namespace = DeclareLaunchArgument(
    'car_namespace',
    default_value='kitt',
    description='Namespace for the ROS2 node'
  )

  # Define the launch value for the namespace
  namespace_arg = LaunchConfiguration('car_namespace')

  # Launch the ROS2 node with the specified namespace, package, and executable
  node = Node(
    package='car_control_system',
    executable='CAR_CONTROL_SYSTEM',
    namespace=namespace_arg
  )

  return LaunchDescription([
    namespace,
    node
  ])

Answer 1

[Diego]

I have the answer, and it happens the same in some other ros2 codes, like the ros_gz_bridge:

If you declare your topics starting by slash, they won't be affected by namespaces.

Now that I changed my topic names so that they do not start by slash, it works perfectly.