crosbot_fastslam: make sub/pub topics configurable

crosbot_fastslam/include/crosbot_fastslam/module.hpp

@@ -34,7 +34,11 @@ protected:
     std::string baseFrame;
     std::string mapFrame;
 	std::string odomFrame;
-	std::string pubParticles;
+	std::string pub_historyName;
+	std::string pub_mapName;
+	std::string pub_particlesName;
+	std::string sub_scanName;
+	std::string sub_snapName;
 
 	ros::Subscriber scanSub;
 	ros::Subscriber snapSub;

crosbot_fastslam/src/module.cpp

@@ -68,14 +68,18 @@ void FastSLAMModule::initialize(ros::NodeHandle& nh) {
     paramNH.param<std::string>("base_frame", baseFrame, DEFAULT_BASEFRAME);
     paramNH.param<std::string>("map_frame", mapFrame, DEFAULT_MAPFRAME);
     paramNH.param<std::string>("odom_frame", odomFrame, DEFAULT_ODOMFRAME);
-    paramNH.param<std::string>("pub_particles", pubParticles, "/crosbot_fastslam/particles");
+    paramNH.param<std::string>("pub_history", pub_historyName, "/crosbot_fastslam/history");
+    paramNH.param<std::string>("pub_map", pub_mapName, "/crosbot_fastslam/map");
+    paramNH.param<std::string>("pub_particles", pub_particlesName, "/crosbot_fastslam/particles");
+    paramNH.param<std::string>("sub_scan", sub_scanName, "/scan");
+    paramNH.param<std::string>("sub_snap", sub_snapName, "/crosbot_fastslam/snaps");
     ROS_INFO("%s map: %s, odom: %s, base: %s", LOG_START, mapFrame.c_str(), odomFrame.c_str(), baseFrame.c_str());
 
-    scanSub = nh.subscribe("scan", 1, &FastSLAMModule::callbackScan, this);
-    snapSub = nh.subscribe("snap", 1000, &FastSLAMModule::callbackSnap, this);
-    gridPub = nh.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
-    historyPub = nh.advertise<nav_msgs::Path>("history", 1);
-    particlesPub = nh.advertise<geometry_msgs::PoseArray>(pubParticles, 1);
+    scanSub = nh.subscribe(sub_scanName, 1, &FastSLAMModule::callbackScan, this);
+    snapSub = nh.subscribe(sub_snapName, 1000, &FastSLAMModule::callbackSnap, this);
+    gridPub = nh.advertise<nav_msgs::OccupancyGrid>(pub_mapName, 1, true);
+    historyPub = nh.advertise<nav_msgs::Path>(pub_historyName, 1);
+    particlesPub = nh.advertise<geometry_msgs::PoseArray>(pub_particlesName, 1);
 
     // read configuration/parameters
     ConfigElementPtr config = new ROSConfigElement(paramNH);