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update: changing slam_toolbox params

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This commit is contained in:
Björn Ellensohn 2023-08-09 11:04:05 +02:00
parent 045c92d222
commit 622ac3d3bb
2 changed files with 4 additions and 5 deletions
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7
config/mapper_params_online_async.yaml
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@ -12,17 +12,16 @@ slam_toolbox:
# ROS Parameters # ROS Parameters
odom_frame: odom odom_frame: odom
map_frame: map map_frame: map
map_topic: map #tryout?
base_frame: base_footprint base_frame: base_footprint
scan_topic: scan scan_topic: /scan
mode: localization mode: localization
# if you'd like to immediately start continuing a map at a given pose # 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 # or at the dock, but they are mutually exclusive, if pose is given
# will use pose # 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_pose: [0.0, 0.0, 0.0]
map_start_at_dock: true #map_start_at_dock: true
debug_logging: false debug_logging: false
throttle_scans: 1 throttle_scans: 1

2
launch/robot_mapping.launch.py
View File

@ -57,7 +57,7 @@ def generate_launch_description():
{'use_sim_time': use_sim_time} {'use_sim_time': use_sim_time}
], ],
#namespace = namespace, #namespace = namespace,
remappings=[('/scan', 'scan'), ('/map', 'map')], #remappings=[('/scan', 'scan'), ('/map', 'map')],
) )
return LaunchDescription([ return LaunchDescription([