Single Launch file for Thorvald & Robotnik

[pulver22]

No description provided.

[pulver22]

Right now, the costmap is not generated when using multiple hokuyo, making the navigation impossible. I am going to include the laser merger, adjust the topics and fix this in a new commit.

[marc-hanheide]

I haven't really tested anything, but I don't see major issues with this.

[marc-hanheide]

I haven't really tested anything, but I don't see major issues with this.

well, other than the failed CI build ;-)

https://lcas.lincoln.ac.uk/buildfarm/job/Mpr__bacchus_lcas__ubuntu_bionic_amd64/16/testReport/

[pulver22]

Yes I know that ;) I'm on it!

[pulver22]

I haven't really tested anything, but I don't see major issues with this.

well, other than the failed CI build ;-)

https://lcas.lincoln.ac.uk/buildfarm/job/Mpr__bacchus_lcas__ubuntu_bionic_amd64/16/testReport/

This build fails because the test file assumes there is only one hokuyo generating the /thorvald_001/scan topic. This condition is not met when using the laser merger which, yes, generates this topic but should be launch in a second terminal window at a later stage in order to correctly subscribe to the two laser topics and generate the merged one (see HERE).

If we want to keep the unit test as they are, I will modify the launch file to load different sensor configuration based on a parameter and by default use the one with only one hokuyo (so to pass the test).