Added map_topic parameters to static layer and amcl (#1910)

doc/parameters/param_list.md

@@ -78,6 +78,7 @@ When `plugins` parameter is not overridden, the following default plugins are lo
 | `<static layer>`.subscribe_to_updates | false | Subscribe to static map updates after receiving first |
 | `<static layer>`.map_subscribe_transient_local | true | QoS settings for map topic |
 | `<static layer>`.transform_tolerance | 0.0 | TF tolerance |
+| `<static layer>`.map_topic | "" | Name of the map topic to subscribe to (empty means use the map_topic defined by `costmap_2d_ros`) |
 
 ## inflation_layer plugin
 
@@ -560,6 +561,7 @@ When `recovery_plugins` parameter is not overridden, the following default plugi
 | z_short | 0.05 | Mixture weight for z_short part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand. |
 | always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize |
 | scan_topic | scan | Topic to subscribe to in order to receive the laser scan for localization |
+| map_topic | map | Topic to subscribe to in order to receive the map for localization |
 
 ---
 

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -249,6 +249,7 @@ class AmclNode : public nav2_util::LifecycleNode
   double z_short_;
   double z_rand_;
   std::string scan_topic_{"scan"};
+  std::string map_topic_{"map"};
 };
 
 }  // namespace nav2_amcl

nav2_amcl/src/amcl_node.cpp

@@ -217,6 +217,10 @@ AmclNode::AmclNode()
   add_parameter(
     "scan_topic", rclcpp::ParameterValue("scan"),
     "Topic to subscribe to in order to receive the laser scan for localization");
+
+  add_parameter(
+    "map_topic", rclcpp::ParameterValue("map"),
+    "Topic to subscribe to in order to receive the map to localize on");
 }
 
 AmclNode::~AmclNode()
@@ -1096,6 +1100,7 @@ AmclNode::initParameters()
   get_parameter("first_map_only_", first_map_only_);
   get_parameter("always_reset_initial_pose", always_reset_initial_pose_);
   get_parameter("scan_topic", scan_topic_);
+  get_parameter("map_topic", map_topic_);
 
   save_pose_period_ = tf2::durationFromSec(1.0 / save_pose_rate);
   transform_tolerance_ = tf2::durationFromSec(tmp_tol);
@@ -1271,7 +1276,7 @@ AmclNode::initPubSub()
     std::bind(&AmclNode::initialPoseReceived, this, std::placeholders::_1));
 
   map_sub_ = create_subscription<nav_msgs::msg::OccupancyGrid>(
-    "map", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
+    map_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
     std::bind(&AmclNode::mapReceived, this, std::placeholders::_1));
 
   RCLCPP_INFO(get_logger(), "Subscribed to map topic.");

nav2_costmap_2d/plugins/static_layer.cpp

@@ -124,10 +124,18 @@ StaticLayer::getParameters()
   declareParameter("subscribe_to_updates", rclcpp::ParameterValue(false));
   declareParameter("map_subscribe_transient_local", rclcpp::ParameterValue(true));
   declareParameter("transform_tolerance", rclcpp::ParameterValue(0.0));
+  declareParameter("map_topic", rclcpp::ParameterValue(""));
 
   node_->get_parameter(name_ + "." + "enabled", enabled_);
   node_->get_parameter(name_ + "." + "subscribe_to_updates", subscribe_to_updates_);
-  node_->get_parameter("map_topic", map_topic_);
+  std::string private_map_topic, global_map_topic;
+  node_->get_parameter(name_ + "." + "map_topic", private_map_topic);
+  node_->get_parameter("map_topic", global_map_topic);
+  if (!private_map_topic.empty()) {
+    map_topic_ = private_map_topic;
+  } else {
+    map_topic_ = global_map_topic;
+  }
   node_->get_parameter(
     name_ + "." + "map_subscribe_transient_local",
     map_subscribe_transient_local_);