From dd3fc76bad82b7f3e62886dc0201bf86eb28ccb6 Mon Sep 17 00:00:00 2001
From: Kevin Wells <kevin.c.wells@intel.com>
Date: Thu, 13 Oct 2016 15:32:43 -0700
Subject: [PATCH] Use GMapping nodelet

Modified GMapping launch files to use the new nodelet
version of gmapping instead of the older node. This
allows the GMapping nodelet (which reads /scan) to be
run in the same nodelet manager as depthimage_to_laserscan
(which outputs /scan), allowing for more efficient
data processing.
---
 .../launch/includes/gmapping/gmapping.launch.xml           | 7 +++++--
 .../launch/includes/gmapping/r200_gmapping.launch.xml      | 7 +++++--
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml b/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml
index 601092cc..e1ebcc0d 100644
--- a/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml
+++ b/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml
@@ -3,7 +3,7 @@
   <arg name="base_frame"  default="base_footprint"/>
   <arg name="odom_frame"  default="odom"/>
 
-  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
+  <node pkg="nodelet" type="nodelet" name="slam_gmapping" args="load SlamGMappingNodelet camera/camera_nodelet_manager" output="screen">
     <param name="base_frame" value="$(arg base_frame)"/>
     <param name="odom_frame" value="$(arg odom_frame)"/>
     <param name="map_update_interval" value="5.0"/>
@@ -44,6 +44,9 @@
     <param name="llsamplestep" value="0.01"/>
     <param name="lasamplerange" value="0.005"/>
     <param name="lasamplestep" value="0.005"/>
-    <remap from="scan" to="$(arg scan_topic)"/>
+    
+    <remap from="camera/scan" to="$(arg scan_topic)"/>
+    <remap from="camera/map" to="map"/>
+    <remap from="camera/map_metadata" to="map_metadata"/>
   </node>
 </launch>
diff --git a/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml b/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml
index d6b188e3..ba8bd4a0 100644
--- a/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml
+++ b/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml
@@ -4,7 +4,7 @@
   <arg name="base_frame"  default="base_footprint"/>
   <arg name="odom_frame"  default="odom"/>
 
-  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
+  <node pkg="nodelet" type="nodelet" name="slam_gmapping" args="load SlamGMappingNodelet camera/camera_nodelet_manager" output="screen">
     <param name="base_frame" value="$(arg base_frame)"/>
     <param name="odom_frame" value="$(arg odom_frame)"/>
     <param name="map_update_interval" value="5.0"/>
@@ -39,6 +39,9 @@
     <param name="llsamplestep" value="0.01"/>
     <param name="lasamplerange" value="0.005"/>
     <param name="lasamplestep" value="0.005"/>
-    <remap from="scan" to="$(arg scan_topic)"/>
+    
+    <remap from="camera/scan" to="$(arg scan_topic)"/>
+    <remap from="camera/map" to="map"/>
+    <remap from="camera/map_metadata" to="map_metadata"/>
   </node>
 </launch>