From c57b193622a1a4b2a29e72d2b69e768339154be9 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Thu, 7 Apr 2022 12:54:57 +0200
Subject: [PATCH] Added icp_relocalization remap
---
launch/collisions.launch | 2 ++
launch/node.launch | 2 ++
2 files changed, 4 insertions(+)
diff --git a/launch/collisions.launch b/launch/collisions.launch
index 69f5c41..a04b990 100644
--- a/launch/collisions.launch
+++ b/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="$(arg relocalization_topic_name)"/>
<arg name="diagnostics" value="false"/>
</include>
diff --git a/launch/node.launch b/launch/node.launch
index 88e9c3c..64ff005 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -13,6 +13,7 @@
<arg name="rear_laser_topic" default="~/rear_laser_scan"/>
<arg name="icp_service_name" default="~/icp"/>
<arg name="odom_topic" default="~/odom"/>
+ <arg name="relocalization_topic_name" default="~/relocalization"/>
<node name="$(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"
--
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