Remapping Locobot Base Odom

[drpjm]

We were developing some base motion controllers in simulation and everything worked great. But then we put the code on our Locobot and did not work because the Odometry topics are published on mobile_base/odom instead of base/absolute_position (gazebo). What would be the best way to pass in through the launch file what the odometry topic is for the Locobot so that we do not need to modify the source code of the controllers?

We tried to do a remap doing something like this:

<arg name="simulation"							default="true"/>
<group if="$(arg simulation)">
		<param name="odom_topic"						value="base/absolute_position"/>
		<remap from="mobile_base/odom" to="base/absolute_position"/>
</group>
<group unless="$(arg simulation)">
		<param name="odom_topic"						value="mobile_base/odom"/>
		<remap from="base/absolute_position" to="mobile_base/odom"/>
</group>

But, this method does not appear to work. Any tips would be great!

@LSinterbotix Any thoughts on this?

[lukeschmitt-tr]

My suggestion would be to inspect the topics and parameters to see if there are any namespacing issues. / characters always trip me up when working with remapping and local/global params.

[drpjm]

Thanks - I will review and see what could be going on. For now, we have a high level launch file that accepts a simulation parameter and then we choose the topic based on that value.