ROS2 and Gazebo: multiple robots

We call this launch file from if mode command line parameter is not "simple" (it is either "slam" or "map").


In theory, as we have already modified params YAML file and XACRO file, all we need to do here is to pass namespace and proper params_file. I tried it, and it didn't work. But if I pass modified params file as a new parameter, it works. Therefore, we have an odd-looking two lines:
'params_file': namespaced_params,
'namespaced_params' : namespaced_params,

I am 100% sure it is "fixable", and sooner or later I will find out how to do it right. It is not some kind of a ROS2 secret, just a bug somewhere in Nav2.

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