From 801fc596e4bbb550f03542fa1e9bfb6babbb38ef Mon Sep 17 00:00:00 2001
From: Jaeyoung Lim <jalim@ethz.ch>
Date: Thu, 18 Jan 2024 10:12:40 +0100
Subject: [PATCH] Use topic remapping for gridmap topics

---
 launch/load_multiple_tif_launch.xml | 2 +-
 src/test_tif_loader.cpp             | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/launch/load_multiple_tif_launch.xml b/launch/load_multiple_tif_launch.xml
index 1b31076..d7be664 100644
--- a/launch/load_multiple_tif_launch.xml
+++ b/launch/load_multiple_tif_launch.xml
@@ -12,7 +12,7 @@
         <param name="frame_id" value="dischma_valley"/>
         <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/dischma_valley.tif"/>
         <param name="tif_color_path" value="$(find-pkg-share grid_map_geo)/resources/dischma_valley_color.tif"/>
-        <param name="topic_name" value="elevation2"/>
+        <remap from="elevation_map" to="second_elevation_map"/>
     </node>
 
 
diff --git a/src/test_tif_loader.cpp b/src/test_tif_loader.cpp
index d139ea2..878137f 100644
--- a/src/test_tif_loader.cpp
+++ b/src/test_tif_loader.cpp
@@ -56,9 +56,8 @@ class MapPublisher : public rclcpp::Node {
     std::string file_path = this->declare_parameter("tif_path", ".");
     std::string color_path = this->declare_parameter("tif_color_path", ".");
     std::string frame_id = this->declare_parameter("frame_id", "map");
-    std::string topic_name = this->declare_parameter("topic_name", "elevation_map");
 
-    original_map_pub_ = this->create_publisher<grid_map_msgs::msg::GridMap>(topic_name, 1);
+    original_map_pub_ = this->create_publisher<grid_map_msgs::msg::GridMap>("elevation_map", 1);
 
     RCLCPP_INFO_STREAM(get_logger(), "file_path " << file_path);
     RCLCPP_INFO_STREAM(get_logger(), "color_path " << color_path);