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Use GMapping nodelet #158

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Use GMapping nodelet #158

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7 changes: 5 additions & 2 deletions turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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">
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@rohbotics rohbotics Dec 19, 2016

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People use the turtlebot gmapping with Lidars, in which case they would not have the camera nodelet manager.
I am not entirely sure that it is a good idea to make loading the nodelet the default.

I think it would be better to make a separate laser gmapping launch, that does not use the nodelet, before merging,

<param name="base_frame" value="$(arg base_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="map_update_interval" value="5.0"/>
Expand Down Expand Up @@ -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>
7 changes: 5 additions & 2 deletions turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -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>