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Slam_toolbox: Change published map topic

asked 2021-01-25 13:02:26 -0500

icheler gravatar image

Hello,

i want to use slam_toolbox in a multi-robot setting. My simple question is:

Is it possible to change the topic the map is published on, since the global /map is needed for merging robot maps and i want to use slam_toolbox to compute the "local" maps of the robots, for example /robot_namespace/map?

Thank you for the answers.

System information where relevant:

  1. ubuntu 20.04 with kernel 5.8.0-38-generic
  2. ros noetic 1.15.9
  3. slam_toolbox noetic_devel 1.5.4
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As with any ROS package, you can remap the topic or launch the node in a namespace.

stevemacenski gravatar image stevemacenski  ( 2021-01-26 10:11:02 -0500 )edit

When launching the node in a namespace the published map is still published to /map and not to ns/map. With the remapping and namespaces the nodes start and work correctly as long as they are not started relatively close to each other time-wise. I couldn't start both nodes from the same launch file with both of them working. I could provide the necessary files to highlight my new problem, but I found a solution which works which is totally fine for me. Thanks for the comment and keep up the good work.

icheler gravatar image icheler  ( 2021-01-26 13:51:13 -0500 )edit

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answered 2021-01-28 19:17:23 -0500

icheler gravatar image

The first answer provided a viable solution with the remapping. Launching the nodes within their own namespace alone does not fix this issue. A combination of both solutions was required.

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Hi @icheler if I am trying to do the exact same thing, running multiple instances of slam_toolbox. Could you please elaborate a little more on your solution?

I remapped the "/map" topic for the second node and also ran the slam_toolbox instances in different namespaces.

Everything works good but from time to time one of the nodes crashes.

Note that I am doing it in ROS2 foxy but I still appreciate if you share your experience and I hope it is applicable to ROS2 as well.

Thanks

myavari gravatar image myavari  ( 2021-06-11 16:26:37 -0500 )edit

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Asked: 2021-01-25 13:02:26 -0500

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Last updated: Jan 28 '21