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Hi, how can I subscribe the node(topic cmd_vel) of turtlesim to the node of my model?

asked 2016-11-27 13:59:45 -0500

manju gravatar image

Hi, I have build a model in gazebo ROS which is moving through teleop keyboard. I want to subscribe cmd_vel of turtlesim to my model and move turtlesim along with my model. Do you have any idea how can I subscribe the node of turtlesim to the node of my model?

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answered 2016-11-27 14:45:41 -0500

petern3 gravatar image

via command line:

You can remap topics with /old_topic:=/new_topic. In your case:

rosrun turtlesim turtlesim_node /turtle1/cmd_vel:=/my_gazebo_robot/cmd_vel

via launch file:

Within the node, you can use the remap tag.

<node pkg="turtlesim" type="turtlesim_node" name="sim">
  <remap from="/turtle1/cmd_vel" to="/my_gazebo_robot/cmd_vel" />

You can check if either method worked with rostopic list and rostopic info /my_gazebo_robot/cmd_vel. Note that /my_gazebo_robot might be several directories deep (such as if you have a base controller).

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Hey, Thank you very much for the help. Its working!!

manju gravatar image manju  ( 2016-11-27 15:54:43 -0500 )edit

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Asked: 2016-11-27 13:59:45 -0500

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Last updated: Nov 27 '16