Merge pull request #1 from skylerpan/dashing-devel

Update master branch.

Author: skylerpan

slam_gmapping/launch/slam_gmapping.launch.py

@@ -5,7 +5,7 @@
 def generate_launch_description():
     param_substitutions = {
         'base_frame': 'base_link',
-        'odom_frame': 'base_odom',
+        'odom_frame': 'odom',
         'map_frame': 'map',
         'map_update_interval': '3.0',
         'maxUrange': '10.0',

slam_gmapping/src/slam_gmapping.cpp

@@ -149,7 +149,7 @@ void SlamGmapping::startLiveSlam() {
     sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map");
     sstm_ = this->create_publisher<nav_msgs::msg::MapMetaData>("map_metadata");
     scan_filter_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>
-            (node_, "scan");
+            (node_, "scan", rmw_qos_profile_sensor_data);
     scan_filter_ = std::make_shared<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>
             (*scan_filter_sub_, *buffer_, odom_frame_, 10, node_);
     scan_filter_->registerCallback(std::bind(&SlamGmapping::laserCallback, this, std::placeholders::_1));