From 705f9cccd56344b37d097b7cebfffa4db1101ab0 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Tue, 2 Jan 2024 10:44:59 +0100
Subject: [PATCH] Use TwistStamped (#424) (#426)
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(cherry picked from commit efe3aa2446ebc1aa43cccd586d568cb25c3b0f49)

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
---
 .../bringup/config/diffbot_controllers.yaml    |  1 -
 example_2/doc/userdoc.rst                      | 18 ++++++++++--------
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/example_2/bringup/config/diffbot_controllers.yaml b/example_2/bringup/config/diffbot_controllers.yaml
index d45de1b44..4f1ad7037 100644
--- 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
index 116da462a..504172a9b 100644
--- 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.