Remapping move_base Twist publisher topic.

edit

Hi all,

I'm working with a Clearpath Husky on ROS Indigo, Ubuntu 14.04. I'm trying to remap the topic that move_base publishes its Twist messages on to ('cmd_vel') to another name that I can use with a topic_tools mux. I was able to do so by changing the move_base.launch file in the jackal_navigation package, however, I want to know if there's a way to do so without changing the source of the original package.

I created my own launch file that launches the jackal_navigation amcl_navigation.launch file and tried to remap the move_base publishing topic using <remap from="cmd_vel" to="/new_cmd_vel"/>, however, this did not work.

Are there any services or parameters that I am unaware of that remap the navigation stacks Twist message publisher?

Thanks in advance!

Edit: Below is the launch file I am using and how I tried to remap the topic

<launch>
    <include file="$(find jackal_gazebo)/launch/jackal_world.launch">
        <arg name="config" value="front_laser"/>
    </include>
    <include file="$(find jackal_navigation)/launch/amcl_demo.launch">
        <arg name="map_file" value="/home/river/gazebo_map.yaml"/>
        <!-- This is how I tried to change it -->
        <remap from="cmd_vel" to="/nav_vel"/>
    </include>
    <include file="$(find jackal_viz)/launch/view_robot.launch">
        <arg name="config" value="localization"/>
    </include>
    <!-- How I would like to use my renamed topic (in a multiplexer) -->
    <node name="topic_tools_mux" pkg="topic_tools" type="mux" 
        args="/cmd_vel /bsc_jackal/bsc_vel /bsc_jackal/key_vel /bsc_jackal/nav_vel mux:=bsc_mux">
    </node> 
</launch>

Below is the modified source launch file for Jackal in jackal_navigation/launch/include/move_base.launch:

<launch>
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find jackal_navigation)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />

    <rosparam file="$(find jackal_navigation)/params/map_nav_params/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/map_nav_params/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find jackal_navigation)/params/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find jackal_navigation)/params/move_base_params.yaml" command="load" />

    <param name="base_global_planner" type="string" value="navfn/NavfnROS" />
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>

    <remap from="odom" to="odometry/filtered" />
    <!-- Here is where I remapped the topic -->
    <remap from="cmd_vel" to="/bsc_jackal/nav_vel"/>
  </node>
</launch>

Below is the output of rostopic list | grep vel as Procopio requested. /bsc_jackal/* are the topics generated from the topic_tools mux. /jackal_velocity_controller/cmd_vel is just a relay to /cmd_vel using topic tools (I found this out by looking at the jackal source launch files).

/bsc_jackal/bsc_vel
/bsc_jackal/key_vel
/bsc_jackal/nav_vel
/cmd_vel
/jackal_velocity_controller/cmd_vel
/jackal_velocity_controller/odom
/navsat/fix/velocity/parameter_descriptions
/navsat/fix/velocity/parameter_updates
/navsat/vel