Hotfix: cannot receive scan topic with best-effort QoS. #2
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Thank you for the PR @skylerpan. I have left a few comments. Please look into them at your convenience
| @@ -501,6 +501,6 @@ void RecordList::printPath(ostream& os, unsigned int i, bool err, bool rawodom) | |||
| cout << "average error" << totalError/count << endl; | |||
| } | |||
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| }; //gfsreader | |||
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Since openslam_gmapping has been directly adopted, we can keep the original formatting of the code. This also applies for all the other openslam_gmapping files that have been changed
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Hi @shiveshkhaitan. I agree. I have reverted this to adopt the original code.
| @@ -100,16 +107,18 @@ class SlamGmapping : public rclcpp::Node{ | |||
| std::shared_ptr<std::thread> transform_thread_; | |||
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| std::string base_frame_; | |||
| std::string laser_frame_; | |||
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This line has been moved below. The change does not make any difference. We can keep the original declaration
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Hi @shiveshkhaitan.
I have reverted this to the original code.
| param_substitutions = { | ||
| 'base_frame': 'base_link', | ||
| 'odom_frame': 'odom', | ||
| 'map_frame': 'map', | ||
| 'map_update_interval': '3.0', | ||
| 'maxUrange': '10.0', | ||
| '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', |
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Thanks for the addition of parameters. But this can be added as a separate PR since it is unrelated
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Hi @shiveshkhaitan.
I have removed these parameters in the launch file.
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| #define LOAD_PARAMS(_name_,_val_) \ | ||
| this->declare_parameter((#_name_),(_val_),\ | ||
| rcl_interfaces::msg::ParameterDescriptor());\ | ||
| this->get_parameter((#_name_), (_name_##_));\ | ||
| std::cout<<(#_name_)<<" "<<(_name_##_)<<std::endl | ||
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Thank you for the modifications @skylerpan. Some of the parameter related changes are still not reverted. Can you please revert them as well. Please feel free to have them as a separate PR.
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Hi @shiveshkhaitan. I reverted all the code excepting two bug fixes, and also rebased the commits. Many thanks.
This implementation uses message filter to sub topic. But message filter default only passes topic with reliable qos. I modified the qos setting in message filter to pass both reliable and best-effort topic.
Original implementation uses message_filters to subscribe to the scan topic.
But message_filters default only passes topic with reliable QoS.
I modified the QoS setting in message_filters to pass both reliable and best-effort topics.
And I have merged some modifications from @bergercookie's fork.