Fix topic remappings (ros-controls#565)

* Fix remapping for ex2 * Cleanup * Fix remapping of ex15
StoglRobotics-forks · Aug 12, 2024 · 71a86bd · 71a86bd
1 parent 96e6f5c
commit 71a86bd
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Showing 5 changed files with 7 additions and 12 deletions.
diff --git a/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml b/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
@@ -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]

diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -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",
             ),
         ],

diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
@@ -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",

diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
@@ -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

diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -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(