changed slam launch file according to the comments for the PR #4211

Signed-off-by: Ibrahim Özcan <[email protected]>

nav2_bringup/launch/slam_launch.py

@@ -17,11 +17,11 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription, LogInfo
 from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node, SetParameter
+from launch_ros.actions import Node, SetParameter, SetRemap
 from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import HasNodeParams, RewrittenYaml
 
@@ -87,8 +87,9 @@ def generate_launch_description():
         'log_level', default_value='info', description='log level'
     )
 
-    # Nodes launching commands
 
+
+    # Nodes launching commands
     start_map_server = GroupAction(
         actions=[
             SetParameter('use_sim_time', use_sim_time),
@@ -119,21 +120,31 @@ def generate_launch_description():
         source_file=params_file, node_name='slam_toolbox'
     )
 
-    start_slam_toolbox_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(slam_launch_file),
-        launch_arguments={'use_sim_time': use_sim_time}.items(),
-        condition=UnlessCondition(has_slam_toolbox_params),
-    )
+    start_slam_toolbox_cmd = GroupAction(
 
-    start_slam_toolbox_cmd_with_params = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(slam_launch_file),
-        launch_arguments={
-            'use_sim_time': use_sim_time,
-            'slam_params_file': params_file,
-        }.items(),
-        condition=IfCondition(has_slam_toolbox_params),
+        actions=[
+            #Remapping required to have a slam session subscribe & publish in optional namespaces B#
+            SetRemap(src= '/scan', dst= 'scan'),
+            SetRemap(src='/tf', dst='tf'),
+            SetRemap(src='/tf_static', dst='tf_static'),
+            SetRemap(src='/map', dst='map'),
+
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(slam_launch_file),
+                launch_arguments={'use_sim_time': use_sim_time}.items(),
+                condition=UnlessCondition(has_slam_toolbox_params),
+            ),
+
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(slam_launch_file),
+                launch_arguments={'use_sim_time': use_sim_time,
+                                  'slam_params_file': params_file,}.items(),
+                 condition=IfCondition(has_slam_toolbox_params),
+            )
+        ]
     )
 
+
     ld = LaunchDescription()
 
     # Declare the launch options
@@ -149,6 +160,5 @@ def generate_launch_description():
 
     # Running SLAM Toolbox (Only one of them will be run)
     ld.add_action(start_slam_toolbox_cmd)
-    ld.add_action(start_slam_toolbox_cmd_with_params)
 
     return ld