Make scan topic remapping use global topic path

clearpathrobotics · Sep 13, 2023 · 4b19fa3 · 4b19fa3
1 parent e41078a
commit 4b19fa3
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/launch/nav2.launch.py b/launch/nav2.launch.py
@@ -85,8 +85,10 @@ def launch_setup(context, *args, **kwargs):
 
     nav2 = GroupAction([
         PushRosNamespace(namespace),
-        SetRemap(namespace + '/global_costmap/sensors/lidar2d_0/scan', namespace + '/sensors/lidar2d_0/scan'),
-        SetRemap(namespace + '/local_costmap/sensors/lidar2d_0/scan', namespace + '/sensors/lidar2d_0/scan'),
+        SetRemap('/' + namespace + '/global_costmap/sensors/lidar2d_0/scan',
+                 '/' + namespace + '/sensors/lidar2d_0/scan'),
+        SetRemap('/' + namespace + '/local_costmap/sensors/lidar2d_0/scan',
+                 '/' + namespace + '/sensors/lidar2d_0/scan'),
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(launch_nav2),