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Change Odom topic name in Navigation stack

asked 2020-08-25 02:49:25 -0600

nalistic gravatar image

updated 2022-06-12 19:31:03 -0600

lucasw gravatar image

Hello, I have set up a simple navigation following the default configuration from navigation tutorial Right now, i am publishing odometry in the odom topic, and works fine, I can see the move_base subscribing to the odom topic. But i want to implement some filteres, so I am publising a filtered odometry message on a second topic name odom_filtered. what i want to know is how could I indicate the navigation stack to use the odom_filtered topic rather than the odom one? Thanks for your time.

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Need more details, what nodes of the navigation stack are you using? Most nodes are using the tf odom->base_link, not the nav_msgs/Odometry topic. Make sure you are publishing this transform only in one node.

But if you really need to change a topic name for a node, try remap

Humpelstilzchen gravatar image Humpelstilzchen  ( 2020-08-25 04:04:11 -0600 )edit

Thanks for your response, I am using move_base node, and that node was expecting the odometry to be published in the odom topic, so i could simply change the topic odom to odom_raw and use the remap property to change the odometry/filtered to odom, thanks a lot for the response, change the comment to an answer so i can mark it as correct.

nalistic gravatar image nalistic  ( 2020-08-25 04:20:46 -0600 )edit

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answered 2020-10-14 07:41:20 -0600

nalistic gravatar image

using remap as suggested by @humpelstizchen did the trick

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Asked: 2020-08-25 02:49:25 -0600

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Last updated: Oct 14 '20