how to let move_base subscribe to (custom) /odom topic?
Hello everyone,
I have configured the move_base node (shown in following window) and customized the topic /odom in my odom_node.cpp file according to tutorial http://wiki.ros.org/navigation/Tutori..., after I launch my launch file roslaunch car_gazebo car_move_base.launch
and run the odom_node.cpp ( it has been compiled ) rosrun custom_odom odom_node
, I thought the move_base node would subscribe to the topic /odom, but it didn't, so how to let the move_base subscribe to my custom /odom topic.
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find car_description)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find car_description)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find car_description)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find car_description)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find car_description)/param/teb_local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="center_line/CenterLineROS" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
</node>
<node pkg="topics_setup" type="cmd_vel_to_ackermann_drive.py" name="cmd_vel_to_ackermann_drive">
<remap from="ackermann_cmd" to="control_command"/>
</node>
<node name="map_server" pkg="map_server" type="map_server" args="/maps/map_1.yaml" output="screen">
<param name="frame_id" value="map"/>
</node>
</launch>
Before I planned to modify the source code of move_base by adding code subscribing to the topic, but not recommended. What should I do?
Thank you in advance
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