From b0be67553a598cf5f20a3c8adc4d5d1b6ece0986 Mon Sep 17 00:00:00 2001
From: Nikos Koukis <nikolaos@slamcore.com>
Date: Thu, 16 May 2019 16:06:35 +0100
Subject: [PATCH 1/2] Fix bug with misleading indentation

---
 .../include/gmapping/particlefilter/particlefilter.h           | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h b/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h
index 2a8b8a9..39db224 100644
--- a/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h
+++ b/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h
@@ -137,9 +137,12 @@ void rle(OutputIterator& out, const Iterator & begin, const Iterator & end){
 			count=1;
 		}
 	}
+
 	if (count>0)
+	{
 		*out=std::make_pair(current,count);
 		out++;
+	}
 }
 
 //BEGIN legacy

From f97675f058956e0c47c2d76fa456a006b568fb36 Mon Sep 17 00:00:00 2001
From: Skyler Pan <skylerpan@gmail.com>
Date: Fri, 17 Jan 2020 02:19:14 +0800
Subject: [PATCH 2/2] Bugfix: cannot receive scan topic with best-effort qos.

This implementation uses message filter to sub topic.
But message filter default only passes topic with
reliable qos. I modified the qos setting in message
filter to pass both reliable and best-effort topic.
---
 slam_gmapping/src/slam_gmapping.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/slam_gmapping/src/slam_gmapping.cpp b/slam_gmapping/src/slam_gmapping.cpp
index 34a7027..eadc1f9 100644
--- a/slam_gmapping/src/slam_gmapping.cpp
+++ b/slam_gmapping/src/slam_gmapping.cpp
@@ -96,7 +96,7 @@ void SlamGmapping::startLiveSlam() {
     sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map");
     sstm_ = this->create_publisher<nav_msgs::msg::MapMetaData>("map_metadata");
     scan_filter_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>
-            (node_, "scan");
+            (node_, "scan", rmw_qos_profile_sensor_data);
     scan_filter_ = std::make_shared<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>
             (*scan_filter_sub_, *buffer_, odom_frame_, 10, node_);
     scan_filter_->registerCallback(std::bind(&SlamGmapping::laserCallback, this, std::placeholders::_1));