From 26f7df450c79bce28e59a1d696ae048ab0c61ddc Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 4 Feb 2021 19:08:33 +0100
Subject: [PATCH] Add argument to choose map path
---
launch/include/map_server.launch | 3 ++-
launch/nav.launch | 2 ++
2 files changed, 4 insertions(+), 1 deletion(-)
diff --git a/launch/include/map_server.launch b/launch/include/map_server.launch
index 1ec5a41..d153060 100644
--- a/launch/include/map_server.launch
+++ b/launch/include/map_server.launch
@@ -3,6 +3,7 @@
<launch>
<arg name="ns" default="robot"/>
+ <arg name="map_path" default="$(find iri_maps)/maps"/>
<arg name="map_name" default="empty"/>
<arg name="map_frame_id" default="map"/>
<arg name="map_topic" default="$(arg ns)/map"/>
@@ -15,7 +16,7 @@
<node name="map_server"
pkg ="map_server"
type="map_server"
- args="$(find iri_maps)/maps/$(arg map_name).yaml"
+ args="$(arg map_path)/$(arg map_name).yaml"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<param name="frame_id" value="$(arg map_frame_id)"/>
diff --git a/launch/nav.launch b/launch/nav.launch
index 8f46e35..5a630c9 100644
--- a/launch/nav.launch
+++ b/launch/nav.launch
@@ -17,6 +17,7 @@
<arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
+ <arg name="map_path" default="$(find iri_maps)/map"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/amcl.yaml"/>
@@ -39,6 +40,7 @@
<include file="$(find iri_rosnav)/launch/include/map_server.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
+ <arg name="map_path" value="$(arg map_path)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
--
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