Use TwistStamped (#424) (#426)

(cherry picked from commit efe3aa2) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls · Jan 2, 2024 · 705f9cc · 705f9cc
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diff --git a/example_2/bringup/config/diffbot_controllers.yaml b/example_2/bringup/config/diffbot_controllers.yaml
@@ -32,7 +32,6 @@ diffbot_base_controller:
 
  cmd_vel_timeout: 0.5
  #publish_limited_velocity: true
- use_stamped_vel: false
  #velocity_rolling_window_size: 10
 
  # Velocity and acceleration limits

diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
@@ -88,14 +88,16 @@ Tutorial steps
 
  .. code-block:: shell
 
- ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
- x: 0.7
- y: 0.0
- z: 0.0
- angular:
- x: 0.0
- y: 0.0
- z: 1.0"
+ ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+ twist:
+ linear:
+ x: 0.7
+ y: 0.0
+ z: 0.0
+ angular:
+ x: 0.0
+ y: 0.0
+ z: 1.0"
 
  You should now see an orange box circling in *RViz*.
  Also, you should see changing states in the terminal where launch file is started.