Update laser mapping topics

Author: javizqh

exercises/laser_mapping/cpp_lib/src/HAL.cpp

@@ -17,10 +17,10 @@ std::thread HAL::spin_thread_;
 void HAL::init()
 {
     if (!motors_node_) {
-        odometry_node_ = std::make_shared<OdometryNode>("/turtlebot3/odom", "hal_odometry");
-        noisy_odometry_node_ = std::make_shared<OdometryNode>("/turtlebot3/odom_noisy", "hal_noisy_odometry_node");
-        motors_node_ = std::make_shared<MotorsNode>("/turtlebot3/cmd_vel", 4.0, 0.3, "hal_motors");
-        laser_node_ = std::make_shared<LaserNode>("/turtlebot3/laser/scan", "hal_laser");
+        odometry_node_ = std::make_shared<OdometryNode>("/odom", "hal_odometry");
+        noisy_odometry_node_ = std::make_shared<OdometryNode>("/odom_noisy", "hal_noisy_odometry_node");
+        motors_node_ = std::make_shared<MotorsNode>("/cmd_vel", 4.0, 0.3, "hal_motors");
+        laser_node_ = std::make_shared<LaserNode>("/laser/scan", "hal_laser");
 
         executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
         executor_->add_node(odometry_node_);

exercises/laser_mapping/cpp_lib/src/WebGUI.cpp

@@ -22,8 +22,8 @@ class WebGUINode : public BaseWebGUI
         , map_util_([this](){ return odom_node_->getPose3d(); },
                     [this](){ return noisy_odom_node_->getPose3d(); })
     {
-        odom_node_ = std::make_shared<OdometryNode>("/turtlebot3/odom", "webgui_odom");
-        noisy_odom_node_ = std::make_shared<OdometryNode>("/turtlebot3/odom_noisy", "webgui_noisy_odom");
+        odom_node_ = std::make_shared<OdometryNode>("/odom", "webgui_odom");
+        noisy_odom_node_ = std::make_shared<OdometryNode>("/odom_noisy", "webgui_noisy_odom");
         aux_node_ = std::make_shared<rclcpp::Node>("webgui_aux");
 
         auto qos_transient = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();

exercises/laser_mapping/cpp_template/libs/libHAL.so

@@ -31,12 +31,10 @@ def __auto_spin() -> None:
 if not rclpy.ok():
     rclpy.init(args=sys.argv)
 
-motor_node = MotorsNode("/turtlebot3/cmd_vel", 4, 0.3)
-odometry_node = OdometryNode("/turtlebot3/odom")
-noisy_odometry_node = OdometryNode(
-    "/turtlebot3/odom_noisy", node_name="noisy_odometry_node"
-)
-laser_node = LaserNode("/turtlebot3/laser/scan")
+motor_node = MotorsNode("/cmd_vel", 4, 0.3)
+odometry_node = OdometryNode("/odom")
+noisy_odometry_node = OdometryNode("/odom_noisy", node_name="noisy_odometry_node")
+laser_node = LaserNode("/laser/scan")
 
 executor = rclpy.executors.MultiThreadedExecutor()
 executor.add_node(odometry_node)