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Help Required! Changing Subscribed Topics of a Package

asked 2017-11-01 07:06:25 -0500

AllanXyl gravatar image

Greeting friends, I am currently working on a low cost method of mapping and I have decided to use ultrasonic to do it.

Ultrasonic Range Package: https://github.com/sharvashish/Obstac...

Mapping Package: http://wiki.ros.org/gmapping

The problem is the ultrasonic publishes a "sensor" topic while the mapping subscribes to "scan". Is there a method to make the mapping package subscribe to "sensor" instead?

Cheers, Thanks for your time.

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answered 2017-11-01 13:02:14 -0500

gvdhoorn gravatar image

This is a question of semantics. A single measurement is not directly equivalent to a "scan", at least the the type that gmapping is looking for (LaserScan). You'll have to find (or implement) a node that converts your ultrasonic range measurements into a (poor) LaserScan msg.

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Asked: 2017-11-01 07:06:25 -0500

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Last updated: Nov 01 '17