Hello.
This is a duplicate of Ticket # 4497
After looking over the other tickets I wasn't sure anymore, if my patch
would belong there, so I decided to repost it here.
Please duely reprimand me if I violated any policies :)
https://code.ros.org/trac/ros-pkg/ticket/4497 reads:
//snip
For my project I needed the Costmap2DROS wrapper to listen to a
different map topic than the hardcoded "map" one. I added an optional
parameter (in(for) the configuration file) and found the change to be
minimally invasive and quite useful. So I thought I'd share it.
The patch (against boxturtle r28817
<
https://code.ros.org/trac/ros-pkg/changeset/28817> but also applicable
on cturtle ) is attached.
//unsnip
I attached the patch file to this message.
Hope you find this useful, too.
Best regards,
Andreas Tropschug
Index: src/costmap_2d_ros.cpp
===================================================================
--- src/costmap_2d_ros.cpp (revision 29409)
+++ src/costmap_2d_ros.cpp (working copy)
@@ -188,11 +188,13 @@
private_nh.param("rolling_window", rolling_window_, false);
double map_width_meters, map_height_meters;
+ std::string map_topic;
private_nh.param("width", map_width_meters, 10.0);
private_nh.param("height", map_height_meters, 10.0);
private_nh.param("resolution", map_resolution, 0.05);
private_nh.param("origin_x", map_origin_x, 0.0);
private_nh.param("origin_y", map_origin_y, 0.0);
+ private_nh.param("map_topic", map_topic, std::string("map"));
map_width = (unsigned int)(map_width_meters / map_resolution);
map_height = (unsigned int)(map_height_meters / map_resolution);
@@ -201,7 +203,7 @@
ros::NodeHandle g_nh;
ROS_INFO("Requesting the map...\n");
- map_sub_ = g_nh.subscribe("map", 1, &Costmap2DROS::incomingMap, this);
+ map_sub_ = g_nh.subscribe(map_topic.c_str(), 1, &Costmap2DROS::incomingMap, this);
ros::Rate r(1.0);
while(!map_initialized_ && ros::ok()){
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