Slam_toolbox: Change published map topic
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:
- ubuntu 20.04 with kernel 5.8.0-38-generic
- ros noetic 1.15.9
- slam_toolbox noetic_devel 1.5.4
As with any ROS package, you can remap the topic or launch the node in a namespace.
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.