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Update gridmap_maps_builder topic names #4

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6 changes: 3 additions & 3 deletions howtos/gridmap_mapping.rst
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Expand Up @@ -129,7 +129,7 @@ Example configuration:

.. code-block:: yaml

pointcloud_maps_builder_node:
gridmap_maps_builder_node:
ros__parameters:
use_sim_time: true
sensors: [map]
Expand All @@ -142,7 +142,7 @@ Example configuration:

The builder publishes the resulting GridMap on:

- **Topic:** ``/maps_builder_gridmap/gridmap``
- **Topic:** ``/map_builder_gridmap/gridmap``
- **Type:** ``grid_map_msgs/msg/GridMap``

---
Expand All @@ -158,7 +158,7 @@ The **Gridmap Maps Manager** can ingest the GridMap published by the builder via

ros2 run easynav_system system_main \
--ros-args --params-file ~/ros/ros2/easynav_ws/src/easynav_playground_summit/config/summit_building_params.yaml \
-r /maps_manager_node/gridmap/incoming_map:=/maps_builder_gridmap/gridmap
-r /maps_manager_node/gridmap/incoming_map:=/map_builder_gridmap/gridmap

**Option B (standalone):** if available, run a dedicated manager executable with the same remap.
If your workspace does not include a standalone binary, use **Option A**.
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