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Fix SLAM parameter passing #631

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Merged
civerachb-cpr merged 4 commits into from
Sep 9, 2025
+15 −5
Merged

Fix SLAM parameter passing #631

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7ab4ab1
Instead of manually remapping topics, rewrite the parameters to apply…
civerachb-cpr Sep 2, 2025
71fd1b7
Add map_name parameter to the config so we can overwrite it correctly
civerachb-cpr Sep 2, 2025
8b9a9a7
Remap the diagnostics topic too
civerachb-cpr Sep 2, 2025
f5ffbcc
Revert "Remap the diagnostics topic too"
civerachb-cpr Sep 2, 2025
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1 change: 1 addition & 0 deletions turtlebot4_navigation/config/slam.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ slam_toolbox:
# ROS Parameters
odom_frame: odom
map_frame: map
map_name: /map
base_frame: base_link
scan_topic: /scan
use_map_saver: true
Expand Down
19 changes: 14 additions & 5 deletions turtlebot4_navigation/launch/slam.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import PushRosNamespace, SetRemap

from nav2_common.launch import RewrittenYaml

pkg_turtlebot4_navigation = get_package_share_directory('turtlebot4_navigation')
pkg_slam_toolbox = get_package_share_directory('slam_toolbox')

Expand Down Expand Up @@ -71,22 +73,29 @@ def launch_setup(context, *args, **kwargs):
launch_slam_async = PathJoinSubstitution(
[pkg_slam_toolbox, 'launch', 'online_async_launch.py'])

rewritten_slam_params = RewrittenYaml(
source_file=slam_params,
root_key=namespace_str,
param_rewrites={
'map_name': namespace_str + '/map',
'scan_topic': namespace_str + '/scan',
},
convert_types=True,
)

slam = GroupAction([
PushRosNamespace(namespace),

SetRemap('/tf', namespace_str + '/tf'),
SetRemap('/tf_static', namespace_str + '/tf_static'),
SetRemap('/scan', namespace_str + '/scan'),
SetRemap('/map', namespace_str + '/map'),
SetRemap('/map_metadata', namespace_str + '/map_metadata'),

IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_slam_sync),
launch_arguments=[
('use_sim_time', use_sim_time),
('autostart', autostart),
('use_lifecycle_manager', use_lifecycle_manager),
('slam_params_file', slam_params)
('slam_params_file', rewritten_slam_params)
],
condition=IfCondition(sync)
),
Expand All @@ -97,7 +106,7 @@ def launch_setup(context, *args, **kwargs):
('use_sim_time', use_sim_time),
('autostart', autostart),
('use_lifecycle_manager', use_lifecycle_manager),
('slam_params_file', slam_params)
('slam_params_file', rewritten_slam_params)
],
condition=UnlessCondition(sync)
)
Expand Down
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