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Configuring turtlebot3_slam_gmapping

asked 2018-07-31 18:43:04 -0500

sujeet gravatar image

updated 2018-08-01 11:17:17 -0500

Is there a way to unsubscribing the turtlebot3_slam_gmapping node from the topic /scan and in place of that, subscribing turtlebot3_slamp_gmapping to a topic published by /scan_to_scan_filter_chain ? To elaborate, I want SLAM node to get filtered information from the node scan_to_scan_filter_chain rather than the original information from the /turtlebot_lds.


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Are you asking about changing the topic that gmapping publishes to?

jayess gravatar image jayess  ( 2018-07-31 18:53:19 -0500 )edit

@jayess nope, I'm just asking about changing the topic of subscription for turtlebot3_slam_gmapping from turtlebot3_lds to scan_to_scan_filter_chain.

sujeet gravatar image sujeet  ( 2018-07-31 21:52:59 -0500 )edit

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answered 2018-07-31 22:01:58 -0500

jayess gravatar image

You're looking for the <remap> tag then. roslaunch allows you to change a node's topics during launch time with it. so, you'd have something like

<remap from="scan" to="new_scan_topic"/>

According to the documentation on the wiki

The <remap> tag applies to all subsequent declarations in its scope (<launch>, <node> or <group>).

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Asked: 2018-07-31 18:43:04 -0500

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Last updated: Aug 01 '18