Added parameters to configure amcl laser scan topic

doc/parameters/param_list.md

@@ -547,6 +547,7 @@ When `recovery_plugins` parameter is not overridden, the following default plugi
 | z_rand | 0.5 | Mixture weight for z_rand part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand. |
 | z_short | 0.05 | Mixture weight for z_short part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand. |
 | always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize |
+| scan_topic | scan | Topic to subscribe to in order to receive the laser scan for localization |
 
 ---
 

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -167,7 +167,6 @@ class AmclNode : public nav2_util::LifecycleNode
 
   // Laser scan related
   void initLaserScan();
-  const char * scan_topic_{"scan"};
   nav2_amcl::Laser * createLaserObject();
   int scan_error_count_{0};
   std::vector<nav2_amcl::Laser *> lasers_;
@@ -250,6 +249,7 @@ class AmclNode : public nav2_util::LifecycleNode
   double z_max_;
   double z_short_;
   double z_rand_;
+  std::string scan_topic_{"scan"};
 };
 
 }  // namespace nav2_amcl

nav2_amcl/src/amcl_node.cpp

@@ -213,6 +213,10 @@ AmclNode::AmclNode()
     "Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter "
     "(with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the"
     "last known pose to initialize");
+
+  add_parameter(
+    "scan_topic", rclcpp::ParameterValue("scan"),
+    "Topic to subscribe to in order to receive the laser scan for localization");
 }
 
 AmclNode::~AmclNode()
@@ -1098,6 +1102,7 @@ AmclNode::initParameters()
   get_parameter("z_short", z_short_);
   get_parameter("first_map_only_", first_map_only_);
   get_parameter("always_reset_initial_pose", always_reset_initial_pose_);
+  get_parameter("scan_topic", scan_topic_);
 
   save_pose_period_ = tf2::durationFromSec(1.0 / save_pose_rate);
   transform_tolerance_ = tf2::durationFromSec(tmp_tol);

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

@@ -37,6 +37,7 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
+    scan_topic: scan
 
 amcl_map_client:
   ros__parameters:

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

@@ -37,6 +37,7 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
+    scan_topic: scan
 
 amcl_map_client:
   ros__parameters:

nav2_bringup/bringup/params/nav2_params.yaml

@@ -37,6 +37,7 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
+    scan_topic: scan
 
 amcl_map_client:
   ros__parameters: