Skip to content

Commit

Permalink
Fix topic remappings (ros-controls#565)
Browse files Browse the repository at this point in the history
* Fix remapping for ex2

* Cleanup

* Fix remapping of ex15
  • Loading branch information
christophfroehlich authored Aug 12, 2024
1 parent 96e6f5c commit 71a86bd
Show file tree
Hide file tree
Showing 5 changed files with 7 additions and 12 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ publisher_forward_position_controller:

wait_sec_between_publish: 5

publish_topic: /rrbot/forward_position_controller/commands
publish_topic: /position_commands

goal_names: ["pos1", "pos2", "pos3", "pos4"]
pos1: [0.785, 0.785]
Expand Down
3 changes: 2 additions & 1 deletion example_15/bringup/launch/rrbot_namespace.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,8 @@ def generate_launch_description():
parameters=[robot_description, robot_controllers],
remappings=[
(
"/forward_position_controller/commands",
# we use the remapping from a relative name to FQN /position_commands
"forward_position_controller/commands",
"/position_commands",
),
],
Expand Down
6 changes: 3 additions & 3 deletions example_2/bringup/launch/diffbot.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -75,15 +75,15 @@ def generate_launch_description():
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
],
)
robot_state_pub_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
remappings=[
("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
],
)
rviz_node = Node(
package="rviz2",
Expand Down
2 changes: 1 addition & 1 deletion example_2/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ Tutorial steps

.. code-block:: shell
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
ros2 topic pub --rate 30 /cmd_vel geometry_msgs/msg/TwistStamped "
twist:
linear:
x: 0.7
Expand Down
6 changes: 0 additions & 6 deletions example_7/bringup/launch/r6bot_controller.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -63,12 +63,6 @@ def generate_launch_description():
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
remappings=[
(
"/forward_position_controller/commands",
"/position_commands",
),
],
output="both",
)
robot_state_pub_node = Node(
Expand Down

0 comments on commit 71a86bd

Please sign in to comment.