Unable to load custom parameter file in SLAM Toolbox on ROS 2 Humble

[onur-ulusoy]

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • binaries
• ROS Version:
  • ROS 2 Humble
• Version or commit hash:
  • ros-humble-slam-toolbox 2.6.4-1jammy.20230302.223844
• Laser unit:
  • libgazebo_ros_ray_sensor.so plugin

Steps to reproduce issue

1. Create a custom parameter file mapper_params_online_async.yaml

2. Try to run the SLAM Toolbox using the custom parameter file in the same dir:

   ros2 launch slam_toolbox online_async_launch.py params_file:=mapper_params_online_async.yaml use_sim_time:=true

3. Observe that the SLAM Toolbox does not use the custom parameter file and instead uses the default values (yaml file).

Expected behavior

The SLAM Toolbox should use the custom parameter file when provided with the correct path.

Actual behavior

The SLAM Toolbox ignores the provided custom parameter file path and uses the default values.

Additional information

I have tried multiple methods to pass the custom parameter file path, such as modifying the launch file and using the ros__parameters remapping, but none of them worked. The issue persists even when I manually start ROS SLAM with the parameter file path provided.

I have also tried replacing the default parameter file in /opt/ros/humble/share/slam_toolbox/config/mapper_params_online_async.yaml with my custom file, but the SLAM Toolbox still seems to use the default values.

Any help or guidance on how to correctly set a custom parameter file for the SLAM Toolbox would be greatly appreciated. Thank you!

[SteveMacenski]

params_file:=mapper_params_online_async.yaml does that path actually exist?

Also that's the wrong launch configuration if you look at the launch files https://github.com/SteveMacenski/slam_toolbox/blob/ros2/launch/online_async_launch.py#L19

[onur-ulusoy]

Hi, apologies for confusion. I run bash script below after changing directory to yaml own path.

ros2 launch slam_toolbox online_async_launch.py params_file:=mapper_params_online_async.yaml use_sim_time:=true

I tried also giving the global path

ros2 launch slam_toolbox online_async_launch.py params_file:=/path/to/mapper_params_online_async.yaml use_sim_time:=true

But the issue persists, it runs toolbox with a default configuration. Then I tried not giving any params and changing the actual config file which is in the path

/opt/ros/humble/share/slam_toolbox/config/mapper_params_online_async.yaml

And it runs as though I didn't changed anything at all.

Since I couldn't run the toolbox with configuration with bash script, I didn't proceed to fix the problems in my launch file to open it with config in my yaml file.

Thanks for your time.

[onur-ulusoy]

Hi, it was just my my oversight. Since I wrote the part in file mapper_params_online_async.yaml with map like:

map_file_name: /path/map.yaml

instead of

map_file_name: /path/map

I found out that when I run the script with --debug option.

Issue has been solved.