Add support for running nav2 with cartographer

nav2_bringup/launch/nav2_navigation_launch.py

@@ -31,12 +31,12 @@ def generate_launch_description():
     params_file = launch.substitutions.LaunchConfiguration('params')
     bt_xml_file = launch.substitutions.LaunchConfiguration('bt_xml_file')
 
-
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {
         'use_sim_time': use_sim_time,
         'bt_xml_filename': bt_xml_file,
-        'autostart': autostart
+        'autostart': autostart,
+        'map_subscribe_transient_local': 'False'
     }
 
     configured_params = RewrittenYaml(

nav2_bringup/launch/nav2_params.yaml

@@ -104,6 +104,8 @@ local_costmap:
       inflation_layer.cost_scaling_factor: 3.0
       obstacle_layer:
         enabled: True
+      static_layer:
+        map_subscribe_transient_local: True
       always_send_full_costmap: True
       observation_sources: scan
       scan:
@@ -125,6 +127,8 @@ global_costmap:
       robot_radius: 0.22
       obstacle_layer:
         enabled: True
+      static_layer:
+        map_subscribe_transient_local: True
       always_send_full_costmap: True
       observation_sources: scan
       scan:

nav2_costmap_2d/plugins/static_layer.cpp

@@ -72,12 +72,14 @@ StaticLayer::onInitialize()
 
   getParameters();
 
-  rclcpp::QoS map_qos(1);
+  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);
   }
 
-  RCLCPP_DEBUG(node_->get_logger(),
+  RCLCPP_INFO(node_->get_logger(),
     "Subscribing to the map topic (%s) with %s durability",
     map_topic_.c_str(),
     map_subscribe_transient_local_ ? "transient local" : "volatile");

nav2_costmap_2d/src/costmap_layer.cpp

@@ -83,7 +83,7 @@ void CostmapLayer::updateWithTrueOverwrite(
   int max_i,
   int max_j)
 {
-  if (!enabled_) {
+  if (!enabled_ || costmap_ == nullptr) {
     return;
   }
   unsigned char * master = master_grid.getCharMap();