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Your launch file works properly (changes the node name and topic name) in melodic... if I delete the remap line. I can't test this on noetic at the moment. A few comments about the launch file:

  • I would not have spaces around the '=' in your group tag.

  • Your remap tag should use from="cmd_vel" without the slash. The topic name is relative to the node the remap tag is nested under.

  • # is not a valid comment character in a launch file.

  • The first line of your launch file should be <?xml version="1.0"?>