How to remap /move_base_simple/goal to my own topic in turtlebot3_navigation?

I am running turtlebot3navigation and want to make it subscribe to my own waypoints topic `/mywaypointsrather than RVIZ's Set 2D Goal topic/movebasesimple/goal. What I actually want to do isroslaunch turtlebot3gazebo turtlebot3world.launch /movebasesimple/goal:=/mywaypoints. Command-line remapping of topics isn't working in this case, neither the remapping in launch file/opt/ros/kinetic/share/turtlebot3navigation/launch/move_base.launch`. Can anyone please help me remapping the topics?

Asked by Kanishk598 on 2021-04-05 00:02:17 UTC

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Do /my_waypoints and /move_base_simple/goal have the same message type?

Asked by miura on 2021-04-05 08:21:35 UTC

Yes, both have the message type of geometry_msgs/PoseStamped

Asked by Kanishk598 on 2021-04-05 22:32:49 UTC

Can you try to edit the launch file add remap to it and check if it is working

Asked by mohamed ahmed on 2021-04-06 04:05:43 UTC

Do you see /move_base_simple/goal and /my_waypoints in the rostopic list? If so, check rostopic info /move_base_simple/goal and rostopic info /my_waypoints to see which nodes are publishing and subscribing.

It may also be useful to check rosnode info move_base to see what topics move_base publishes or subscribes to.

If you like, please reflect the results in your question.

Asked by miura on 2021-04-06 08:25:42 UTC

How to remap /move_base_simple/goal to my own topic in turtlebot3_navigation?

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