diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 726b418973b0690635b33f0f1096f2c3fb6a9bbe..5353c3d71d87eeb23a78d115b41770c9b90e4b7a 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -14,7 +14,7 @@
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
- <arg name="scan_topic" default="/$(arg ns)/sensors/scans"/>
+ <arg name="scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" />
@@ -25,7 +25,7 @@
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
- <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_laser_scan"/>
+ <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
@@ -69,20 +69,14 @@
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
-
- <group ns="$(arg ns)">
-
- <node name="front_laser_relay"
- pkg="topic_tools"
- type="relay"
- args="sensors/front_laser_scan $(arg scan_topic)"/>
-
- <node name="rear_laser_relay"
- pkg="topic_tools"
- type="relay"
- args="sensors/rear_laser_scan $(arg scan_topic)"/>
-
- </group>
+
+ <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="cloud_topic" value="/$(arg ns)/sensors/rslidar_points"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
<node name="rviz"
pkg="rviz"
@@ -91,4 +85,4 @@
args="-d $(arg path)/rviz/$(arg ns).rviz">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index e84e1e63aa47a077b3925d08945658654db604be..5857d9b388a782eb1d3487f6120770a1c3e614a5 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -25,7 +25,7 @@
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="true"/>
- <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_laser_scan"/>
+ <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
@@ -69,21 +69,15 @@
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
-
- <group ns="$(arg ns)">
-
- <node name="front_laser_relay"
- pkg="topic_tools"
- type="relay"
- args="sensors/front_laser_scan $(arg scan_topic)"/>
-
- <node name="rear_laser_relay"
- pkg="topic_tools"
- type="relay"
- args="sensors/rear_laser_scan $(arg scan_topic)"/>
-
- </group>
-
+
+ <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="cloud_topic" value="/$(arg ns)/sensors/rslidar_points"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
+
<node name="rviz"
pkg="rviz"
type="rviz"
@@ -91,4 +85,4 @@
args="-d $(arg path)/rviz/$(arg ns).rviz">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index afb00397661dfdb941c506ab76aecb3225c0a3f7..cc75c1efdb2f13542ef89474895bbb81a89904a8 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -25,7 +25,7 @@
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
- <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_laser_scan"/>
+ <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
<arg name="gmapping_config" default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="true"/>
@@ -70,19 +70,13 @@
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
- <group ns="$(arg ns)">
-
- <node name="front_laser_relay"
- pkg="topic_tools"
- type="relay"
- args="sensors/front_laser_scan $(arg scan_topic)"/>
-
- <node name="rear_laser_relay"
- pkg="topic_tools"
- type="relay"
- args="sensors/rear_laser_scan $(arg scan_topic)"/>
-
- </group>
+ <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="scan_topic" value="$(arg scan_topic)"/>
+ <arg name="cloud_topic" value="/$(arg ns)/sensors/rslidar_points"/>
+ <arg name="output" value="$(arg output)" />
+ <arg name="launch_prefix" value="$(arg launch_prefix)" />
+ </include>
<node name="rviz"
pkg="rviz"
@@ -91,4 +85,4 @@
args="-d $(arg path)/rviz/$(arg ns).rviz">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 27950f0ed32d5196cbfbf86653c823e91a572dfd..69db1eb705d94017802732bf286f940a240acf5a 100644
--- a/params/costmap/common_params.yaml
+++ b/params/costmap/common_params.yaml
@@ -27,7 +27,7 @@ obstacle_layer:
velodyne: {
sensor_frame: /helena/robosense,
data_type: PointCloud2,
- topic: /ana/sensors/rslidar_points,
+ topic: /helena/sensors/rslidar_points,
observation_persistence: 0.0,
marking: true,
clearing: true,
@@ -56,4 +56,4 @@ inflation_layer:
enabled: true
inflate_unknown: false
cost_scaling_factor: 2.0
- inflation_radius: 1.0
\ No newline at end of file
+ inflation_radius: 1.0