Static layer plugin ignores the map_topic parameter and reverts to default behaviour about navigation2 HOT 4 CLOSED

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from navigation2.

Are you sure that you rebuilt your workspace after making the parameter change so the new parameters are being reflected in your launch file?

I'm looking at the code, and we don't seem to have a default name for the map topic (https://github.com/ros-planning/navigation2/blob/main/nav2_costmap_2d/plugins/static_layer.cpp#L134-L150), so if its even getting map its being set from somewhere in your configuration file(s) or you're not using the files you think you are. The other possible error is if you have map_topic defined in a parent namespace before the plugin to map, that'll be possibly pulled in here if the map topic isn't picked up here for whatever reason.

I'm curious if you set the QOS to false instead of true if you see that change happening in the log. If not, then I think your problem is that param file isn't being used or wasn't rebuilt.

from navigation2.

I thank you for your quick response. I checked the parameters and I saw that there was already a map_topic parameter. I was stupid to not check this before. I will close this issue as it has been resolved.

from navigation2.

Hello Steve,
My custom map topic has a different orientation of its origin as compared to the /map topic published by slam toolbox. But the processMap function in the static layer plugin only changes the origin's position. How do I change the origin's orientation wrt to my custom map topic? Is there a parameter for this that I might have missed?? And what is the default orientation and position of the origin??? Your response in this matter would be highly appreciated.
Thank you!

from navigation2.