From 744160e3a8d6c5bab220ef476232d4fce5d0ab3b Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Tue, 26 Nov 2024 19:24:41 +0800 Subject: [PATCH] Remove map_topic parameter and add migration note Signed-off-by: Luca Della Vedova --- .../packages/configuring-costmaps.rst | 11 ---------- migration/Jazzy.rst | 20 +++++++++++++++++++ 2 files changed, 20 insertions(+), 11 deletions(-) diff --git a/configuration/packages/configuring-costmaps.rst b/configuration/packages/configuring-costmaps.rst index 1576ce620..af5d33907 100644 --- a/configuration/packages/configuring-costmaps.rst +++ b/configuration/packages/configuring-costmaps.rst @@ -90,17 +90,6 @@ Costmap2D ROS Parameters Description Minimum cost of an occupancy grid map to be considered a lethal obstacle. -:map_topic: - - ============== ======= - Type Default - -------------- ------- - string "map" - ============== ======= - - Description - Topic of map from map_server or SLAM. - :map_vis_z: ============== ======= diff --git a/migration/Jazzy.rst b/migration/Jazzy.rst index e66d0ce08..424478dbc 100644 --- a/migration/Jazzy.rst +++ b/migration/Jazzy.rst @@ -128,3 +128,23 @@ For example, if you specify `topic: scan` in the `voxel_layer` of a `local_costm * 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 + +Removed global map_topic from Costmap node +****************************************** + +In `PR #4715 `_ the global `map_topic` parameter has been removed from the `Costmap2DROS` node. This parameterwas only used in the `StaticLayer` and should be defined as a parameter local to the `StaticLayer` instead, for example: + +``` +global_costmap: + global_costmap: + ros__parameters: + [...] + # Not supported anymore + map_topic: my_map + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + # Do this instead + map_topic: my_map + +```