Improve launchfile

* Add ability to modify the node parameters from the launchscript
* Add ability to change the topic that we publish the pose estimates

Author: nikoskoukis-slamcore

slam_gmapping/launch/slam_gmapping.launch.py

@@ -1,18 +1,73 @@
 from launch import LaunchDescription
 import launch.substitutions
 import launch_ros.actions
+import launch.condition
 
 
 def generate_launch_description():
-    use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='false')
+    config_vars = [["use_sim_time", 'false'],
+                   ["maxUrange", '80.0'],
+                   ["maxRange", '0.0'],
+                   ["minimum_score", '0'],
+                   ["sigma", '0.05'],
+                   ["kernelSize", '1'],
+                   ["lstep", '0.05'],
+                   ["astep", '0.05'],
+                   ["iterations", '5'],
+                   ["lsigma", '0.075'],
+                   ["ogain", '3.0'],
+                   ["lskip", '0'],
+                   ["srr", '0.1'],
+                   ["srt", '0.2'],
+                   ["str", '0.1'],
+                   ["stt", '0.2'],
+                   ["linearUpdate", '1.0'],
+                   ["angularUpdate", '0.5'],
+                   ["temporalUpdate", '1.0'],
+                   ["resampleThreshold", '0.5'],
+                   ["particles", '30'],
+                   ["xmin", '-10.0'],
+                   ["ymin", '-10.0'],
+                   ["xmax", '10.0'],
+                   ["ymax", '10.0'],
+                   ["delta", '0.05'],
+                   ["occ_thresh", '0.25'],
+                   ["llsamplerange", '0.01'],
+                   ["llsamplestep", '0.01'],
+                   ["lasamplerange", '0.005'],
+                   ["lasamplestep", '0.005'],
+                   ]
 
-    return LaunchDescription([
-        launch.actions.DeclareLaunchArgument(
-            'use_sim_time', default_value='false', description='Use simulation clock if true'),
 
+    launch_args = [
+        launch.actions.DeclareLaunchArgument(
+            name=k,
+            default_value=v,
+            description="Modify the [{}] gmapping parameter".format(k))
+        for k, v in config_vars ]
+    return LaunchDescription([
+        *launch_args,
+        launch.actions.DeclareLaunchArgument(name="pose_topic",
+                                             default_value="/pose"),
         launch_ros.actions.Node(
             package='slam_gmapping',
             node_executable='slam_gmapping',
             node_name='slam_gmapping', output='screen',
-            parameters=[{ 'use_sim_time': use_sim_time}, ]),
+            parameters=[{k: launch.substitutions.LaunchConfiguration(k)
+                         for k, _ in config_vars }],
+            remappings=[("/pose",
+                         launch.substitutions.LaunchConfiguration("pose_topic"))]
+        ),
     ])
+
+
+    # launch.actions.DeclareLaunchArgument(
+    #     'maxUrange', default_value='false', description='Use simulation (Gazebo) clock if true'),
+
+    # return LaunchDescription([
+    #     launch_ros.actions.Node(
+    #         package='slam_gmapping',
+    #         node_executable='slam_gmapping',
+    #         node_name='slam_gmapping', output='screen',
+    #         parameters=[{'maxUrange': maxUrange}]),
+    # ])

slam_gmapping/src/slam_gmapping.cpp

@@ -107,7 +107,7 @@ std::error_code SlamGmapping::initParameters()
     xmax_              = parameters_client_->get_parameter("xmax", 10.0);
     ymax_              = parameters_client_->get_parameter("ymax", 10.0);
     delta_             = parameters_client_->get_parameter("delta", 0.05);
-    occ_thresh_        = parameters_client_->get_parameter("occ", 0.25);
+    occ_thresh_        = parameters_client_->get_parameter("occ_thresh", 0.25);
     llsamplerange_     = parameters_client_->get_parameter("llsamplerange", 0.01);
     llsamplestep_      = parameters_client_->get_parameter("llsamplestep", 0.01);
     lasamplerange_     = parameters_client_->get_parameter("lasamplerange", 0.005);