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Fix topic remappings (backport #565) #566

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merged 3 commits into from
Aug 12, 2024
Merged

Fix topic remappings (backport #565) #566

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16158dd
Fix topic remappings (#565)
christophfroehlich Aug 12, 2024
3016616
Fix merge conflicts in diffbot.launch.py
christophfroehlich Aug 12, 2024
6665a23
Fix merge conflicts in r6bot_controller.launch.py
christophfroehlich Aug 12, 2024
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2 changes: 1 addition & 1 deletion example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
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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]
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3 changes: 2 additions & 1 deletion example_15/bringup/launch/rrbot_namespace.launch.py
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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",
),
],
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4 changes: 1 addition & 3 deletions example_2/bringup/launch/diffbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,16 +77,14 @@ def generate_launch_description():
output="both",
remappings=[
("~/robot_description", "/robot_description"),
("/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",
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2 changes: 1 addition & 1 deletion example_2/doc/userdoc.rst
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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
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4 changes: 0 additions & 4 deletions example_7/bringup/launch/r6bot_controller.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,10 +65,6 @@ def generate_launch_description():
parameters=[robot_controllers],
remappings=[
("~/robot_description", "/robot_description"),
(
"/forward_position_controller/commands",
"/position_commands",
),
],
output="both",
)
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