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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Add the option to subscribe to the /map topic #24

Closed jcmonteiro closed 3 years ago

jcmonteiro commented 3 years ago

Why

This functionality was missing, and it is nice to have for users wishing to try this as a replacement to other localization solutions, such as http://wiki.ros.org/amcl.

For compatibility, the default is to call the static_map service.

New parameters with default values

use_map_topic: false
first_map_only: false
use_pose_on_new_map: false
jcmonteiro commented 3 years ago

I've force-pushed to fix a bug. I was not fetching the algorithm-related ROS parameters when subscribing to the /map topic.