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Added parameters to configure amcl laser scan topic #1870

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Merged
merged 4 commits into from
Jul 16, 2020
Merged

Added parameters to configure amcl laser scan topic #1870

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408bb00
Added parameters to configure amcl topic
Michael-Equi Jul 14, 2020
d1a0956
changed parameter to scan_topic and added to all the configuration files
Michael-Equi Jul 14, 2020
cf0f44a
added scan_topic amcl param to docs
Michael-Equi Jul 14, 2020
c87dfa3
Satisfied linter
Michael-Equi Jul 16, 2020
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2 changes: 1 addition & 1 deletion nav2_amcl/include/nav2_amcl/amcl_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_;
Expand Down Expand Up @@ -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
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4 changes: 4 additions & 0 deletions nav2_amcl/src/amcl_node.cpp
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Expand Up @@ -213,6 +213,9 @@ 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("topic", rclcpp::ParameterValue("scan"));

}

AmclNode::~AmclNode()
Expand Down Expand Up @@ -1098,6 +1101,7 @@ 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("topic", scan_topic_);

save_pose_period_ = tf2::durationFromSec(1.0 / save_pose_rate);
transform_tolerance_ = tf2::durationFromSec(tmp_tol);
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1 change: 1 addition & 0 deletions nav2_bringup/bringup/params/nav2_params.yaml
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Expand Up @@ -37,6 +37,7 @@ amcl:
z_max: 0.05
z_rand: 0.5
z_short: 0.05
topic: scan

amcl_map_client:
ros__parameters:
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