Sync for Iron - Sept 25

README.md

@@ -231,6 +231,8 @@ The following settings and options are exposed to you. My default configuration
 
 `scan_queue_size` - The number of scan messages to queue up before throwing away old ones. Should always be set to 1 in async mode
 
+`use_map_saver` - Instantiate the map saver service and self-subscribe to the map topic
+
 `map_file_name` - Name of the pose-graph file to load on startup if available
 
 `map_start_pose` - Pose to start pose-graph mapping/localization in, if available

config/mapper_params_lifelong.yaml

@@ -15,6 +15,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping
 
     # lifelong params

config/mapper_params_offline.yaml

@@ -14,6 +14,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping #localization
     debug_logging: false
     throttle_scans: 1

config/mapper_params_online_async.yaml

@@ -14,6 +14,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping #localization
 
     # if you'd like to immediately start continuing a map at a given pose

config/mapper_params_online_sync.yaml

@@ -14,6 +14,7 @@ slam_toolbox:
     map_frame: map
     base_frame: base_footprint
     scan_topic: /scan
+    use_map_saver: true
     mode: mapping #localization
 
     # if you'd like to immediately start continuing a map at a given pose

include/slam_toolbox/slam_toolbox_common.hpp

@@ -142,6 +142,7 @@ class SlamToolbox : public rclcpp::Node
 
   // Storage for ROS parameters
   std::string odom_frame_, map_frame_, base_frame_, map_name_, scan_topic_;
+  bool use_map_saver_;
   rclcpp::Duration transform_timeout_, minimum_time_interval_;
   std_msgs::msg::Header scan_header;
   int throttle_scans_, scan_queue_size_;

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>slam_toolbox</name>
-  <version>2.7.1</version>
+  <version>2.7.2</version>
   <description>
      This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets
   </description>

rviz_plugin/slam_toolbox_rviz_plugin.cpp

@@ -78,9 +78,9 @@ SlamToolboxPlugin::SlamToolboxPlugin(QWidget * parent)
     "/slam_toolbox/pause_new_measurements");
   _load_submap_for_merging =
     ros_node_->create_client<slam_toolbox::srv::AddSubmap>(
-    "/map_merging/add_submap");
+    "/slam_toolbox/add_submap");
   _merge = ros_node_->create_client<slam_toolbox::srv::MergeMaps>(
-    "/map_merging/merge_submaps");
+    "/slam_toolbox/merge_submaps");
 
   _vbox = new QVBoxLayout();
   _hbox1 = new QHBoxLayout();

src/map_saver.cpp

@@ -58,10 +58,16 @@ bool MapSaver::saveMapCallback(
   }
 
   const std::string name = req->name.data;
+  std::string set_namespace;
+  const std::string namespace_str = std::string(node_->get_namespace());
+  if (!namespace_str.empty()) {
+    set_namespace = " -r __ns:=" + namespace_str;
+  }
+
   if (name != "") {
     RCLCPP_INFO(node_->get_logger(),
       "SlamToolbox: Saving map as %s.", name.c_str());
-    int rc = system(("ros2 run nav2_map_server map_saver_cli -f " + name  + " --ros-args -p map_subscribe_transient_local:=true").c_str());
+    int rc = system(("ros2 run nav2_map_server map_saver_cli -f " + name  + " --ros-args -p map_subscribe_transient_local:=true" + set_namespace).c_str());
     if (rc == 0) {
       response->result = response->RESULT_SUCCESS;
     } else {
@@ -70,7 +76,7 @@ bool MapSaver::saveMapCallback(
   } else {
     RCLCPP_INFO(node_->get_logger(),
       "SlamToolbox: Saving map in current directory.");
-    int rc = system("ros2 run nav2_map_server map_saver_cli --ros-args -p map_subscribe_transient_local:=true");
+    int rc = system(("ros2 run nav2_map_server map_saver_cli --ros-args -p map_subscribe_transient_local:=true" + set_namespace).c_str());
     if (rc == 0) {
       response->result = response->RESULT_SUCCESS;
     } else {

src/slam_toolbox_common.cpp

@@ -61,8 +61,10 @@ void SlamToolbox::configure()
   pose_helper_ = std::make_unique<pose_utils::GetPoseHelper>(
     tf_.get(), base_frame_, odom_frame_);
   scan_holder_ = std::make_unique<laser_utils::ScanHolder>(lasers_);
-  map_saver_ = std::make_unique<map_saver::MapSaver>(shared_from_this(),
-      map_name_);
+  if (use_map_saver_) {
+    map_saver_ = std::make_unique<map_saver::MapSaver>(shared_from_this(),
+        map_name_);
+  }
   closure_assistant_ =
     std::make_unique<loop_closure_assistant::LoopClosureAssistant>(
     shared_from_this(), smapper_->getMapper(), scan_holder_.get(),
@@ -144,6 +146,9 @@ void SlamToolbox::setParams()
   map_name_ = std::string("/map");
   map_name_ = this->declare_parameter("map_name", map_name_);
 
+  use_map_saver_ = true;
+  use_map_saver_ = this->declare_parameter("use_map_saver", use_map_saver_);
+
   scan_topic_ = std::string("/scan");
   scan_topic_ = this->declare_parameter("scan_topic", scan_topic_);