Update launch and yaml files with correct laser topic names

launch/nav_map.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="/$(arg ns)/sensors/scans"/>
+    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_laser_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"/>
@@ -75,12 +75,12 @@
     <node name="front_laser_relay"
           pkg="topic_tools"
           type="relay"
-          args="sensors/front_scan $(arg scan_topic)"/>
+          args="sensors/front_laser_scan $(arg scan_topic)"/>
     
     <node name="rear_laser_relay"
           pkg="topic_tools"
           type="relay"
-          args="sensors/rear_scan $(arg scan_topic)"/>
+          args="sensors/rear_laser_scan $(arg scan_topic)"/>
     
   </group>
   

launch/nav_mapping.launch

@@ -6,7 +6,7 @@
   <arg name="ns"             default="helena"/>
   <arg name="pkg"            default="iri_helena_rosnav"/>
     <arg name="path"         default="$(eval find(arg('pkg')))"/>
-  <arg name="param_subpath" default="params"/>
+  <arg name="param_subpath"  default="params"/>
   <arg name="map_frame_id"   default="map"/>
   <arg name="odom_frame_id"  default="$(arg ns)/odom"/>
   <arg name="base_frame_id"  default="$(arg ns)/base_footprint"/>
@@ -25,7 +25,7 @@
     <arg name="initial_yaw"    default="0.0"/>
   <arg name="use_fake_loc"   default="false"/>
   <arg name="use_gmapping"   default="true"/>
-    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_scan"/>
+    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_laser_scan"/>
     <arg name="gmapping_config"     default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
     <arg name="resolution"          default="0.1"/>
   <arg name="use_cmd_vel_mux"      default="true"/>
@@ -75,12 +75,12 @@
     <node name="front_laser_relay"
           pkg="topic_tools"
           type="relay"
-          args="sensors/front_scan $(arg scan_topic)"/>
+          args="sensors/front_laser_scan $(arg scan_topic)"/>
     
     <node name="rear_laser_relay"
           pkg="topic_tools"
           type="relay"
-          args="sensors/rear_scan $(arg scan_topic)"/>
+          args="sensors/rear_laser_scan $(arg scan_topic)"/>
     
   </group>
   

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="/$(arg ns)/sensors/scan"/>
+    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/front_laser_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"/>
@@ -75,12 +75,12 @@
     <node name="front_laser_relay"
           pkg="topic_tools"
           type="relay"
-          args="sensors/front_scan $(arg scan_topic)"/>
+          args="sensors/front_laser_scan $(arg scan_topic)"/>
     
     <node name="rear_laser_relay"
           pkg="topic_tools"
           type="relay"
-          args="sensors/rear_scan $(arg scan_topic)"/>
+          args="sensors/rear_laser_scan $(arg scan_topic)"/>
     
   </group>
   

params/costmap/common_params.yaml

@@ -26,7 +26,7 @@ obstacle_layer:
   front_laser:  {
     sensor_frame: /helena/front_hokuyo_scan_frame,
     data_type: LaserScan,
-    topic: /helena/sensors/front_scan,
+    topic: /helena/sensors/front_laser_scan,
     observation_persistence: 0.0,
     marking: true,
     clearing: true,
@@ -40,7 +40,7 @@ obstacle_layer:
   rear_laser:  {
     sensor_frame: /helena/rear_hokuyo_scan_frame,
     data_type: LaserScan,
-    topic: /helena/sensors/rear_scan,
+    topic: /helena/sensors/rear_laser_scan,
     observation_persistence: 0.0,
     marking: true,
     clearing: true,

rviz/helena.rviz

@@ -334,7 +334,7 @@ Visualization Manager:
           Size (Pixels): 3
           Size (m): 0.00999999978
           Style: Points
-          Topic: /helena/sensors/front_scan
+          Topic: /helena/sensors/front_laser_scan
           Unreliable: false
           Use Fixed Frame: true
           Use rainbow: true
@@ -364,7 +364,7 @@ Visualization Manager:
           Size (Pixels): 3
           Size (m): 0.00999999978
           Style: Points
-          Topic: /helena/sensors/rear_scan
+          Topic: /helena/sensors/rear_laser_scan
           Unreliable: false
           Use Fixed Frame: true
           Use rainbow: true
@@ -680,7 +680,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 43.6349297
+      Distance: 12.624259
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -695,10 +695,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 1.45539761
+      Pitch: 1.4603982
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 1.61539745
+      Yaw: 1.55539751
     Saved: ~
 Window Geometry:
   Displays: