Added icp_relocalization remap

launch/collisions.launch

@@ -29,6 +29,7 @@
   <arg name="collision_config_file"   default="$(find iri_collision_manager)/config/params.yaml"/>
   <arg name="front_laser_topic"       default="/laser_front/scan"/>
   <arg name="rear_laser_topic"        default="/laser_rear/scan"/>
+  <arg name="relocalization_topic_name"  default="~/icp_relocalization"/>
 
   <include file="$(find iri_bno055_imu_bringup)/launch/bno055_imu.launch"
            if="$(arg imu_driver)">
@@ -69,6 +70,7 @@
     <arg name="rear_laser_topic" value="$(arg rear_laser_topic)"/>
     <arg name="icp_service_name" value="$(arg icp_service_name)"/>
     <arg name="odom_topic" value="$(arg odom_topic)"/>
+    <arg name="relocalization_topic_name" value="$(arg relocalization_topic_name)"/>
     <arg name="diagnostics" value="false"/>
   </include>
 

launch/node.launch

@@ -13,6 +13,7 @@
   <arg name="rear_laser_topic"     default="~/rear_laser_scan"/>
   <arg name="icp_service_name"        default="~/icp"/>
   <arg name="odom_topic"     default="~/odom"/>
+  <arg name="relocalization_topic_name"  default="~/relocalization"/>
 
   <node name="$(arg node_name)"
         pkg ="iri_collision_manager"
@@ -26,6 +27,7 @@
     <remap from="~/rear_laser_scan" to="$(arg rear_laser_topic)"/>
     <remap from="~/icp" to="$(arg icp_service_name)"/>
     <remap from="~/odom" to="$(arg odom_topic)"/>
+    <remap from="~/relocalization" to="$(arg relocalization_topic_name)"/>
   </node>
 
   <node pkg="diagnostic_aggregator"