diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index a9d3e2588b77da6a6a66bda9fb24cde73542940c..726b418973b0690635b33f0f1096f2c3fb6a9bbe 100644
--- a/launch/nav_map.launch
+++ b/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 $(arg scan_topic)"/>
</group>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index 5e79c320c4070e2698dec1ae8ecf0548c562da9b..e84e1e63aa47a077b3925d08945658654db604be 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -6,7 +6,7 @@
<arg name="ns" default="helena"/>
<arg name="pkg" default="iri_helena_rosnav"/>
<arg name="path" default="$(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 $(arg scan_topic)"/>
</group>
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index fd698059ef135c56906793a8132071a7c7ac625a..afb00397661dfdb941c506ab76aecb3225c0a3f7 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -25,7 +25,7 @@
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
- <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/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>
diff --git a/params/costmap/common_params.yaml b/params/costmap/common_params.yaml
index 73c725c3d20fc075dcfbde12c5c24ea115f45b76..4356198dddd808a931943880092c7c69bc9623e6 100644
--- a/params/costmap/common_params.yaml
+++ b/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,
diff --git a/rviz/helena.rviz b/rviz/helena.rviz
index f1916e84464f81a35fdf5542d430e001c6f55c46..f1b337e7595500fdd233b143581bd40ab251cc21 100644
--- a/rviz/helena.rviz
+++ b/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: