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Add map_topic to static layer and amcl #1910

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merged 7 commits into from
Aug 5, 2020
Merged

Add map_topic to static layer and amcl #1910

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0496e0c
Merge pull request #1 from ros-planning/master
Michael-Equi Jul 25, 2020
c614bef
Merge pull request #2 from BytesRobotics/master
Michael-Equi Jul 25, 2020
c0bc3f1
Merge pull request #3 from ros-planning/master
Michael-Equi Aug 1, 2020
88dbc3e
Merge pull request #4 from BytesRobotics/master
Michael-Equi Aug 1, 2020
8abb961
Merge pull request #5 from ros-planning/master
Michael-Equi Aug 4, 2020
d9f977e
Merge pull request #6 from BytesRobotics/master
Michael-Equi Aug 4, 2020
0760160
Added map_topic parameters to static layer and amcl
Michael-Equi Aug 4, 2020
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2 changes: 2 additions & 0 deletions doc/parameters/param_list.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -561,6 +562,7 @@ 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 |

---

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1 change: 1 addition & 0 deletions nav2_amcl/include/nav2_amcl/amcl_node.hpp
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Expand Up @@ -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
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7 changes: 6 additions & 1 deletion nav2_amcl/src/amcl_node.cpp
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Expand Up @@ -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()
Expand Down Expand Up @@ -1102,6 +1106,7 @@ 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);
Expand Down Expand Up @@ -1277,7 +1282,7 @@ 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.");
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10 changes: 9 additions & 1 deletion nav2_costmap_2d/plugins/static_layer.cpp
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Expand Up @@ -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);
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Why not make them all private and remove the global one? I don't have a particular issue with this but curious the justification for it.

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I thought it would be good to keep it compatible with the global parameter so the user can choose which one to use depending on whatever is the most convenient. In the future if any layers are added that also subscribe to map topics like the static layer then the global parameter may be advantageous whereas the private parameter comes in handy if you need to have subscriptions to an ancillary map topics.

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_);
Expand Down