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I solved the first problem (I had to change self.angular.z not x) but I still need your help for the first one. I wonder whether I have to type twice roslaunch, maybe the core is running twice ?

I solved the ~~first~~ second problem (I had to change self.angular.z not x) but I still need your help for the first one. I wonder whether I have to type twice roslaunch, maybe the core is running twice ?

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