Hi Christian,

You had the right idea, but there is an easier way.  With ROS, topics names,
node names, and parameters names can all be remapped to other names.  You
can do this because the nodes query the master for the names value.

So you can remap map to planner_map in the launch file by doing
<remap from="map" to="planner_map"/>

There is more info on the wiki <http://www.ros.org/wiki/roslaunch/XML/remap>.
 It is a really useful thing to know as you will have to do a bunch of
modifications like this to glue together the various ros components you are
using.


Regards,
Adam

On Mon, Sep 6, 2010 at 12:12 PM, Christian Verbeek <
verbeek@servicerobotics.eu> wrote:

>  Ok, here is my solution to this problem:
>
> I modified
> /opt/ros/boxturtle/stacks/navigation/costmap_2d/src/costmap_2d_ros.cpp
> line 204 listening not for "map" but for "planner_map".
>
> Then I set up a second map server remapping /map to /planner_map loading
> my modified map.
>
> Thats it.
>
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