Understanding launch file from nav2d tutorial
I have a node that I want to subscribe two topics from nav2d, I'm interested to use the /base_scan and /odom topics. When I look in launch files then I can see <!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
<remap from="scan" to="base_scan"/>
<rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
<rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
</node>
I know that "scan" in stage that is remapped to the "base_scan" topic. But what is the remap name for /odom or /base_pose_ground_truth topic ? Or where can I find it ?
Can I for example name /odom topic as <remap from="odometry" to="odom"/> ?
If you make : rosnode info Operator ; you will see topics coming in and out of this node. Then you just have to take the name of the odometry topic and change it with odom with a remap.
I tried rosnode info Stage and can see both base_scan and odom publications! sow can I write like this in launch file: <remap from="Odometry" to="odom"/> ?
Yes it should work