Using another laserscan topic than /scan

iris-ua / iris_lama_ros

LaMa on ROS

BSD 3-Clause "New" or "Revised" License

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Using another laserscan topic than /scan #16

Closed pfedom closed 4 years ago

pfedom commented 4 years ago

Hi,

I am trying to get lama working with another laserscan topic than /scan. Where do I tell the SLAM which topic is providing the laserscan data? I am using Ros2 Eloquent on Ubuntu 18.04.

I tried to include scan_topic: scan_new and also scan_topic: /scan_new in the config file but if I do this the slam doesnt produce anything (not even a map frame) without throwing errors in the terminal.

Thanks in advance!

eupedrosa commented 4 years ago

Hi @pfedom.

I am using Ros2 Eloquent on Ubuntu 18.04.

The ROS 2 version is not yet fully supported. It was a proof of concept port that we did to verify how easy it could be done. But I think you can always use topic remapping.

pfedom commented 4 years ago

okay thanks!