ROS 2 topic namespacing (fleets)

When several robots of the same model run on one ROS 2 graph, their nodes and topics would collide — every robot otherwise has a /cmd_vel, an /image_raw, and so on. The UGV driver avoids this by scoping its entire ROS 2 graph under a per-robot namespace derived from the twin UUID:

ugv_beast_<first 6 hex chars of the twin uuid>      e.g. ugv_beast_27dca7

So a robot exposes its topics under that namespace:

/ugv_beast_27dca7/cmd_vel
/ugv_beast_27dca7/image_raw
/ugv_beast_27dca7/ugv/led_ctrl

The ugv_beast_ prefix is required because a raw UUID is not a valid ROS 2 name (it contains - and may start with a digit); the prefix guarantees a valid leading letter. Both the hardware nodes and the MQTT bridge use the same namespace, so topics stay connected. MQTT topics are unaffected — they remain keyed by the full twin UUID (cyberwave/twin/{twin_uuid}/...).

Single robot / dev: with no twin UUID the namespace is empty and topics are global (/cmd_vel, /image_raw, …).
Override: set CYBERWAVE_ROS_NAMESPACE to a valid ROS 2 name to force a specific namespace for both the hardware nodes and the bridge.

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ROS 2 topic namespacing (fleets)