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Added transient local subscription qos profile parameter to map saver #1871

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merged 4 commits into from
Jul 16, 2020
Merged

Added transient local subscription qos profile parameter to map saver #1871

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b49d40b
Added transient local subscription qos profile parameter to map saver
Michael-Equi Jul 14, 2020
831f884
Made transient local default true
Michael-Equi Jul 14, 2020
04272fb
Fixed linter problem
Michael-Equi Jul 16, 2020
f2a8165
switched back house world to waffle model
Michael-Equi Jul 16, 2020
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4 changes: 2 additions & 2 deletions nav2_bringup/bringup/launch/tb3_simulation_launch.py
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Expand Up @@ -130,8 +130,8 @@ def generate_launch_description():
# TODO(orduno) Switch back once ROS argument passing has been fixed upstream
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
# default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
# 'worlds/turtlebot3_worlds/waffle.model'),
default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
# 'worlds/turtlebot3_worlds/house.world'),
default_value=os.path.join(bringup_dir, 'worlds', 'house.world'),
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We don't have a house.world file in our package for that to be a valid default. If you'd like to propose adding one, we can talk about that for sure, but in another ticket / PR

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Looks like my IDE did some automatic refactor with cached information about a house world I worked on for a bit. My bad for not checking.

description='Full path to world model file to load')

# Specify the actions
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1 change: 1 addition & 0 deletions nav2_bringup/bringup/params/nav2_params.yaml
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Expand Up @@ -249,6 +249,7 @@ map_saver:
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
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planner_server:
ros__parameters:
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2 changes: 2 additions & 0 deletions nav2_map_server/include/nav2_map_server/map_saver.hpp
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Expand Up @@ -109,6 +109,8 @@ class MapSaver : public nav2_util::LifecycleNode
// Default values for map thresholds
double free_thresh_default_;
double occupied_thresh_default_;
// param for handling QoS configuration
bool map_subscribe_transient_local_;

// The name of the service for saving a map from topic
const std::string save_map_service_name_{"save_map"};
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9 changes: 8 additions & 1 deletion nav2_map_server/src/map_saver/map_saver.cpp
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Expand Up @@ -50,6 +50,7 @@ MapSaver::MapSaver()

free_thresh_default_ = declare_parameter("free_thresh_default", 0.25),
occupied_thresh_default_ = declare_parameter("occupied_thresh_default", 0.65);
map_subscribe_transient_local_ = declare_parameter("map_subscribe_transient_local", true);
}

MapSaver::~MapSaver()
Expand Down Expand Up @@ -180,8 +181,14 @@ bool MapSaver::saveMapTopicToFile(
// Add new subscription for incoming map topic.
// Utilizing local rclcpp::Node (rclcpp_node_) from nav2_util::LifecycleNode
// as a map listener.
rclcpp::QoS map_qos(10); // initialize to default
if (map_subscribe_transient_local_) {
map_qos.transient_local();
map_qos.reliable();
map_qos.keep_last(1);
}
auto map_sub = rclcpp_node_->create_subscription<nav_msgs::msg::OccupancyGrid>(
map_topic_loc, rclcpp::SystemDefaultsQoS(), mapCallback);
map_topic_loc, map_qos, mapCallback);

rclcpp::Time start_time = now();
while (rclcpp::ok()) {
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