Merge pull request #1853 from PX4/ros_mavlink_rotorssimulatorupdate

update ros launch files and nodes for update of rotors_simulator

20 files changed, 117 insertions, 68 deletions

diff --git a/integrationtests/demo_tests/direct_manual_input_test.py b/integrationtests/demo_tests/direct_manual_input_test.py
index 6d115316b..b037d842f 100755
--- a/integrationtests/demo_tests/direct_manual_input_test.py
+++ b/integrationtests/demo_tests/direct_manual_input_test.py
@@ -64,8 +64,8 @@ class ManualInputTest(unittest.TestCase):
     #
     def test_manual_input(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.Subscriber('px4_multicopter/actuator_armed', actuator_armed, self.actuator_armed_callback)
-        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
 
         man = ManualInput()
 
diff --git a/integrationtests/demo_tests/direct_offboard_posctl_test.py b/integrationtests/demo_tests/direct_offboard_posctl_test.py
index e09550bbc..18239e926 100755
--- a/integrationtests/demo_tests/direct_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/direct_offboard_posctl_test.py
@@ -66,9 +66,9 @@ class DirectOffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-        rospy.Subscriber("px4_multicopter/vehicle_local_position", vehicle_local_position, self.position_callback)
-        self.pubSpt = rospy.Publisher('px4_multicopter/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
+        self.pubSpt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
         self.rate = rospy.Rate(10) # 10hz
 
     def tearDown(self):
diff --git a/integrationtests/demo_tests/manual_input.py b/integrationtests/demo_tests/manual_input.py
index 9b2471a00..7072464de 100755
--- a/integrationtests/demo_tests/manual_input.py
+++ b/integrationtests/demo_tests/manual_input.py
@@ -54,8 +54,8 @@ class ManualInput:
 
     def __init__(self):
         rospy.init_node('test_node', anonymous=True)
-        self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
-        self.pubOff = rospy.Publisher('px4_multicopter/offboard_control_mode', offboard_control_mode, queue_size=10)
+        self.pubMcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
+        self.pubOff = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
         self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
 
     def arm(self):
@@ -85,7 +85,7 @@ class ManualInput:
             # Fake input to iris commander
             self.pubAtt.publish(att)
             rate.sleep()
-            count = count + 1 
+            count = count + 1
 
         pos.r = 1
         count = 0
diff --git a/integrationtests/demo_tests/mavros_offboard_attctl_test.py b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
index a52f7ffc1..92cdf1e0a 100755
--- a/integrationtests/demo_tests/mavros_offboard_attctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_attctl_test.py
@@ -65,12 +65,12 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('mavros/cmd/arming', 30)
-        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
-        self.pubAtt = rospy.Publisher('mavros/setpoint/attitude', PoseStamped, queue_size=10)
-        self.pubThr = rospy.Publisher('mavros/setpoint/att_throttle', Float64, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
+        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
+        self.pubAtt = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
+        self.pubThr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
         self.rate = rospy.Rate(10) # 10hz
         self.rateSec = rospy.Rate(1)
         self.hasPos = False
@@ -109,7 +109,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
 
         # set some attitude and thrust
         att = PoseStamped()
-        att.header = Header() 
+        att.header = Header()
         att.header.frame_id = "base_footprint"
         att.header.stamp = rospy.Time.now()
         quaternion = quaternion_from_euler(0.15, 0.15, 0)
@@ -126,7 +126,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             att.header.stamp = rospy.Time.now()
             self.pubAtt.publish(att)
             self.pubThr.publish(throttle)
-            
+
             if (self.localPosition.pose.position.x > 5
                 and self.localPosition.pose.position.z > 5
                 and self.localPosition.pose.position.y < -5):
@@ -135,7 +135,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
             self.rate.sleep()
 
         self.assertTrue(count < timeout, "took too long to cross boundaries")
-    
+
 
 if __name__ == '__main__':
     import rostest
diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
index a3739ae5c..6d26015e7 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -64,11 +64,11 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('mavros/cmd/arming', 30)
-        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
-        self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
+        rospy.wait_for_service('iris/mavros/cmd/arming', 30)
+        rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
+        self.pubSpt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("iris/mavros/cmd/arming", CommandBool)
         self.rate = rospy.Rate(10) # 10hz
         self.rateSec = rospy.Rate(1)
         self.hasPos = False
@@ -100,7 +100,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
     def reach_position(self, x, y, z, timeout):
         # set a position setpoint
         pos = PoseStamped()
-        pos.header = Header() 
+        pos.header = Header()
         pos.header.frame_id = "base_footprint"
         pos.pose.position.x = x
         pos.pose.position.y = y
@@ -118,7 +118,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             # update timestamp for each published SP
             pos.header.stamp = rospy.Time.now()
             self.pubSpt.publish(pos)
-            
+
             if(self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5)):
                 break
             count = count + 1
@@ -153,7 +153,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
 
         for i in range(0, len(positions)):
             self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
-        
+
         # does it hold the position for Y seconds?
         positionHeld = True
         count = 0
@@ -166,7 +166,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
             self.rate.sleep()
 
         self.assertTrue(count == timeout, "position could not be held")
-    
+
 
 if __name__ == '__main__':
     import rostest
diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch
index 4651f0dc9..e42db6043 100644
--- a/integrationtests/demo_tests/mavros_tests.launch
+++ b/integrationtests/demo_tests/mavros_tests.launch
@@ -3,7 +3,8 @@
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="false"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -11,8 +12,11 @@
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
+    <include file="$(find px4)/launch/mavros_sitl.launch">
+	<arg name="ns" value="$(arg ns)"/>
     </include>
-    <include file="$(find px4)/launch/mavros_sitl.launch" />
 
     <test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" />
     <test test-name="mavros_offboard_attctl_test" pkg="px4" type="mavros_offboard_attctl_test.py" />
diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index 3173e7cf1..56030dd1f 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -1,14 +1,19 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter_x.launch" />
+<include file="$(find px4)/launch/multicopter_x.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="MPC_XY_P" type="double" value="1.0" />
-	<param name="MPC_XY_FF" type="double" value="0.0" />
+	<param name="MPC_XY_FF" type="double" value="0.1" />
 	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="MPC_Z_VEL_P" type="double" value="0.3" />
+	<param name="MPC_Z_P" type="double" value="2" />
 	<param name="vehicle_model" type="string" value="ardrone" />
 </group>
 
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 22bfb0c79..122a27867 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="false"/>
-    <arg name="log_file" default="ardrone"/>
+    <arg name="ns" default="ardrone"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/ardrone.launch" />
+    <include file="$(find px4)/launch/ardrone.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
index 717244abf..1309529b6 100644
--- a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
+++ b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
@@ -1,9 +1,14 @@
-
 <launch>
-
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
-<include file="$(find px4)/launch/mavros_sitl.launch" />
-
-<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+<arg name="ns" default="ardrone"/>
+
+<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
+<include file="$(find px4)/launch/mavros_sitl.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
+<group ns="$(arg ns)">
+	<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+</group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
index 9ff7f7d1f..0371306ce 100644
--- a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
+++ b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
@@ -1,9 +1,14 @@
-
 <launch>
-
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
-<include file="$(find px4)/launch/mavros_sitl.launch" />
-
-<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+<arg name="ns" default="ardrone"/>
+
+<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
+<include file="$(find px4)/launch/mavros_sitl.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
+<group ns="$(arg ns)">
+	<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+</group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch
index c636868eb..89f27c901 100644
--- a/launch/gazebo_ardrone_house_world.launch
+++ b/launch/gazebo_ardrone_house_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="ardrone"/>
+    <arg name="ns" default="ardrone"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/ardrone_house_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/ardrone_house_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/ardrone.launch" />
+    <include file="$(find px4)/launch/ardrone.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch
index 8a4c128b9..0e80208e6 100644
--- a/launch/gazebo_iris_empty_world.launch
+++ b/launch/gazebo_iris_empty_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/iris_empty_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_house_world.launch b/launch/gazebo_iris_house_world.launch
index e4f9f6532..d0e824d4b 100644
--- a/launch/gazebo_iris_house_world.launch
+++ b/launch/gazebo_iris_house_world.launch
@@ -4,7 +4,8 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -13,6 +14,8 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch
index 22d55502d..e75e57b87 100644
--- a/launch/gazebo_iris_outdoor_world.launch
+++ b/launch/gazebo_iris_outdoor_world.launch
@@ -4,7 +4,8 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -13,6 +14,8 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/iris.launch b/launch/iris.launch
index be33cb85f..bf5b099b6 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter_w.launch" />
+<include file="$(find px4)/launch/multicopter_w.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="i" />
 	<param name="MPC_XY_P" type="double" value="1.0" />
 	<param name="MPC_XY_FF" type="double" value="0.0" />
@@ -10,6 +13,8 @@
 	<param name="MPC_XY_VEL_I" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_D" type="double" value="0.01" />
 	<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
+	<param name="MPC_Z_VEL_P" type="double" value="0.3" />
+	<param name="MPC_Z_P" type="double" value="2" />
 	<param name="vehicle_model" type="string" value="iris" />
 </group>
 
diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch
index 40010a273..7362fa464 100644
--- a/launch/mavros_sitl.launch
+++ b/launch/mavros_sitl.launch
@@ -1,7 +1,9 @@
 <launch>
-	<!-- vim: set ft=xml noet : -->
-	<!-- example launch script for PX4 based FCU's -->
+<!-- vim: set ft=xml noet : -->
+<!-- example launch script for PX4 based FCU's -->
 
+<arg name="ns" default="/" />
+<group ns="$(arg ns)">
 	<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
 	<arg name="gcs_url" default="" />
 	<arg name="tgt_system" default="1" />
@@ -18,4 +20,5 @@
 		<arg name="tgt_system" value="$(arg tgt_system)" />
 		<arg name="tgt_component" value="$(arg tgt_component)" />
 	</include>
+</group>
 </launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index bc0e37771..6882f2413 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -1,6 +1,7 @@
 <launch>
+<arg name="ns"/>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<node pkg="joy" name="joy_node" type="joy_node"/>
 	<node pkg="px4" name="manual_input" type="manual_input"/>
 	<node pkg="px4" name="commander" type="commander"/>
diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch
index f124082aa..66c30d186 100644
--- a/launch/multicopter_w.launch
+++ b/launch/multicopter_w.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="w" />
 </group>
 
diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch
index 6355b87be..c686eba39 100644
--- a/launch/multicopter_x.launch
+++ b/launch/multicopter_x.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="x" />
 </group>
 
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 1098ec73b..9b48294b6 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -40,7 +40,7 @@
 #include <ros/ros.h>
 #include <px4.h>
 #include <lib/mathlib/mathlib.h>
-#include <mav_msgs/MotorSpeed.h>
+#include <mav_msgs/CommandMotorSpeed.h>
 #include <string>
 
 class MultirotorMixer
@@ -129,7 +129,7 @@ MultirotorMixer::MultirotorMixer():
 	_rotors(_config_index[0])
 {
 	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
-	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
+	_pub = _n.advertise<mav_msgs::CommandMotorSpeed>("command/motor_speed", 10);
 
 	if (!_n.hasParam("motor_scaling_radps")) {
 		_n.setParam("motor_scaling_radps", 150.0);
@@ -237,7 +237,7 @@ void MultirotorMixer::actuatorControlsCallback(const px4::actuator_controls_0 &m
 	mix();
 
 	// publish message
-	mav_msgs::MotorSpeed rotor_vel_msg;
+	mav_msgs::CommandMotorSpeed rotor_vel_msg;
 	double scaling;
 	double offset;
 	_n.getParamCached("motor_scaling_radps", scaling);