Remapping rostopic from the existing ReadOnly launch file
I have an RPLidar and I installed the necessary packages. Right now, the laser data is published to the /scan topic and I can see the output from Rviz.
I have another project and I should use this implementation for that: https://github.com/praveen-palanisamy...
Now, the problem is: I should publish the scan data to the filtered_cloud rostopic but I could not figure out how.
I have read about remapping but the problem is:
The src folder and rplidar.launch files are ReadOnly.
The rplidar.launch is:
<launch>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
</node>
</launch>
This file and the folder in it are ReadOnly how am I going to remap the /scan points to the filtered_cloud? Can you please give detailed instructions for that?