From f7a9acea10518a8f4c8df9b85a38402e1c448ffd Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 2 Sep 2025 12:49:31 -0400
Subject: [PATCH 1/3] Remap the diagnostic output of the oakd node when using a
 namespace

---
 turtlebot4_bringup/launch/oakd.launch.py | 44 ++++++++++++++----------
 1 file changed, 25 insertions(+), 19 deletions(-)

diff --git a/turtlebot4_bringup/launch/oakd.launch.py b/turtlebot4_bringup/launch/oakd.launch.py
index 859ead3..50df31f 100644
--- a/turtlebot4_bringup/launch/oakd.launch.py
+++ b/turtlebot4_bringup/launch/oakd.launch.py
@@ -18,22 +18,19 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.actions import ComposableNodeContainer, PushRosNamespace
+from launch_ros.actions import ComposableNodeContainer, PushRosNamespace, SetRemap
 from launch_ros.descriptions import ComposableNode
 
 from nav2_common.launch import RewrittenYaml
 
 
-def generate_launch_description():
-    pkg_turtlebot4_bringup = get_package_share_directory('turtlebot4_bringup')
-
-    camera = LaunchConfiguration('camera')
-    params_file = LaunchConfiguration('params_file')
-    namespace = LaunchConfiguration('namespace')
-
-    ARGUMENTS = [
+pkg_turtlebot4_bringup = get_package_share_directory('turtlebot4_bringup')
+camera = LaunchConfiguration('camera')
+params_file = LaunchConfiguration('params_file')
+namespace = LaunchConfiguration('namespace')
+ARGUMENTS = [
         DeclareLaunchArgument('camera', default_value='oakd_pro'),
         DeclareLaunchArgument('params_file',
                               default_value=[PathJoinSubstitution(
@@ -42,13 +39,23 @@ def generate_launch_description():
                               description='Robot namespace')
     ]
 
+
+def launch_setup(context, *args, **kwargs):
+    namespace_str = namespace.perform(context)
+    if (namespace_str and not namespace_str.startswith('/')):
+        namespace_str = '/' + namespace_str
+
     namespaced_param_file = RewrittenYaml(
         source_file=params_file,
         root_key=namespace,
         param_rewrites={},
-        convert_types=True)
+        convert_types=True,
+    )
 
-    node = ComposableNodeContainer(
+    oakd = GroupAction([
+        PushRosNamespace(namespace),
+        SetRemap('/diagnostics', namespace_str + '/diagnostics'),
+        ComposableNodeContainer(
             name='oakd_container',
             namespace=namespace,
             package='rclcpp_components',
@@ -63,13 +70,12 @@ def generate_launch_description():
             ],
             output='screen',
         )
+    ])
 
-    actions = [
-        PushRosNamespace(namespace),
-        node
-    ]
-    oakd = GroupAction(actions)
+    return [oakd]
 
+
+def generate_launch_description():
     ld = LaunchDescription(ARGUMENTS)
-    ld.add_action(oakd)
-    return ld
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld
\ No newline at end of file

From bb56badfbbe70be0916fca4ca272b24e1d2751ad Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 2 Sep 2025 13:15:46 -0400
Subject: [PATCH 2/3] Add newline at EOF

---
 turtlebot4_bringup/launch/oakd.launch.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/turtlebot4_bringup/launch/oakd.launch.py b/turtlebot4_bringup/launch/oakd.launch.py
index 50df31f..a8bf303 100644
--- a/turtlebot4_bringup/launch/oakd.launch.py
+++ b/turtlebot4_bringup/launch/oakd.launch.py
@@ -78,4 +78,4 @@ def launch_setup(context, *args, **kwargs):
 def generate_launch_description():
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(OpaqueFunction(function=launch_setup))
-    return ld
\ No newline at end of file
+    return ld

From 487135d678f66d8dbdca1136e6504caaa1caa21b Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Tue, 2 Sep 2025 13:28:33 -0400
Subject: [PATCH 3/3] Fix import ordering in ros_tests

---
 turtlebot4_tests/turtlebot4_tests/ros_tests.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/turtlebot4_tests/turtlebot4_tests/ros_tests.py b/turtlebot4_tests/turtlebot4_tests/ros_tests.py
index 60dbe46..9e385f4 100644
--- a/turtlebot4_tests/turtlebot4_tests/ros_tests.py
+++ b/turtlebot4_tests/turtlebot4_tests/ros_tests.py
@@ -34,6 +34,7 @@
 
 from irobot_create_msgs.action import Dock, DriveDistance, RotateAngle, Undock
 from irobot_create_msgs.msg import DockStatus, InterfaceButtons, LightringLeds
+from irobot_create_msgs.srv import EStop
 
 from nav_msgs.msg import Odometry
 
@@ -42,8 +43,6 @@
 from rclpy.node import Node
 from rclpy.qos import qos_profile_sensor_data
 
-from irobot_create_msgs.srv import EStop
-
 from std_msgs.msg import String
 
 from turtlebot4_msgs.msg import UserButton, UserLed