From 622ac3d3bba1aedd1fa713774582a7ea0d944c05 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 9 Aug 2023 11:04:05 +0200
Subject: [PATCH] update: changing slam_toolbox params

---
 config/mapper_params_online_async.yaml | 7 +++----
 launch/robot_mapping.launch.py         | 2 +-
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
index b35bd13..89b0ef8 100644
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@@ -12,17 +12,16 @@ 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
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
-    map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
+    #map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
     # map_start_pose: [0.0, 0.0, 0.0]
-    map_start_at_dock: true
+    #map_start_at_dock: true
 
     debug_logging: false
     throttle_scans: 1
diff --git a/launch/robot_mapping.launch.py b/launch/robot_mapping.launch.py
index 7ebb9c8..e8ab25a 100644
--- a/launch/robot_mapping.launch.py
+++ b/launch/robot_mapping.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
             {'use_sim_time': use_sim_time}
         ],
         #namespace = namespace,
-        remappings=[('/scan', 'scan'), ('/map', 'map')],
+        #remappings=[('/scan', 'scan'), ('/map', 'map')],
     )
 
     return LaunchDescription([