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 is
roslaunch 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
Comments
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 therostopic list
? If so, checkrostopic info /move_base_simple/goal
androstopic 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 topicsmove_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