From 03da77955501e786e1734cd8c80626dfe5727068 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Thu, 21 Nov 2024 10:44:35 +0800 Subject: [PATCH] Add example for configuration of sensor topic Signed-off-by: Luca Della Vedova --- migration/Jazzy.rst | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index 868206260..41195f296 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -101,7 +101,7 @@ Default value: - true Revamped multirobot bringup and config files to use namespaces -******************************************************* +************************************************************** In `PR #4715 `_ multirobot bringup and the use of namespaces were overhauled to be compatible out of the box with ROS namespaces and remove custom logic, specifically: @@ -112,3 +112,9 @@ In `PR #4715 `_ multiro Note that some plugins / nodes might have their own local namespace. This is the case for ``CostmapLayer`` which will be in a ``/ns/[layer_name]`` namespace. For these, a new function ``joinWithParentNamespace`` has been added to make sure joining relative paths results in ``/ns/topic_name`` rather than ``/ns/[layer_name]/topic_name``. If your use case doesn't require multiple robots, keeping absolute paths in your ``nav2_params.yaml`` config file and rviz config file will preserve existing behavior. + +For example, if you specify `topic: scan` in the `voxel_layer` of a `local_costmap` and you launch your bringup with a `tb4` namespace: +* User chosen namespace is `tb4`. +* User chosen topic is `scan`. +* Topic will be remapped to `/tb4/scan` without `local_costmap`. +* Use global topic `/scan` if you do not wish the node namespace to apply