From 46220ab8f4b7af0b8a66af64e51e1c7dd38e3cd4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 3 Aug 2023 11:47:50 +0200
Subject: [PATCH] changes for namespacing correctly. Still under construction.

---
 config/mapper_params_online_async.yaml | 3 ++-
 config/nav2_params.yaml                | 4 ++--
 launch/robot_controller.launch.py      | 2 +-
 launch/robot_joystick.launch.py        | 2 +-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
index a43d54b..b35bd13 100644
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@@ -12,8 +12,9 @@ slam_toolbox:
     # ROS Parameters
     odom_frame: odom
     map_frame: map
+    map_topic: map #tryout?
     base_frame: base_footprint
-    scan_topic: /scan
+    scan_topic: scan
     mode: localization
 
     # if you'd like to immediately start continuing a map at a given pose
diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 4ee2bd3..615ed94 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -207,7 +207,7 @@ local_costmap:
         mark_threshold: 0
         observation_sources: scan
         scan:
-          topic: /scan
+          topic: scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
@@ -238,7 +238,7 @@ global_costmap:
         enabled: True
         observation_sources: scan
         scan:
-          topic: /scan
+          topic: scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
diff --git a/launch/robot_controller.launch.py b/launch/robot_controller.launch.py
index 73de7f7..4c08f7a 100755
--- a/launch/robot_controller.launch.py
+++ b/launch/robot_controller.launch.py
@@ -10,7 +10,7 @@ def generate_launch_description():
             package='segwayrmp',
             executable='SmartCar',
             name='SmartCar',
-            remappings=[('/cmd_vel','/cmd_vel_out')],
+            remappings=[('cmd_vel','cmd_vel_out'), ('/odom','odom'), ('/imu','imu'), ('/bms_fb','bms_fb'), ('/joint_states','joint_states')],
             namespace = "/rmp"
          )
 
diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index 1ab7b65..279ed47 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
             executable='rmp220_teleop',
             name='rmp220_teleop',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
-            remappings=[('/cmd_vel','/cmd_vel_joy')],
+            remappings=[('cmd_vel','cmd_vel_joy')],
             namespace = "/rmp"
          )