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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.
rqt_graph:
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>).
Asked: 2018-07-31 18:43:04 -0500
Seen: 294 times
Last updated: Aug 01 '18
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Are you asking about changing the topic that
gmappingpublishes to?@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.