Ask Your Question

Revision history [back]

I think there are two options: remap with nav2 or remap with diff_drive_controller. From this Issue, it may not be possible to remap with diff_drive_controller.

Therefore, I think it is better to use nav2 to remap /cmd_vel to /diff_drive_controller/cmd_vel.

For more information about how to remap, please refer to the following.

https://docs.ros.org/en/foxy/Tutorials/Launch-Files/Creating-Launch-Files.html#write-the-launch-file