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

asked 2021-04-05 00:02:17 -0500

Kanishk598 gravatar image

updated 2022-04-17 10:34:04 -0500

lucasw gravatar image

I am running turtlebot3_navigation and want to make it subscribe to my own waypoints topic /my_waypoints rather than RVIZ's Set 2D Goal topic /move_base_simple/goal. What I actually want to do is roslaunch turtlebot3_gazebo turtlebot3_world.launch /move_base_simple/goal:=/my_waypoints. Command-line remapping of topics isn't working in this case, neither the remapping in launch file /opt/ros/kinetic/share/turtlebot3_navigation/launch/move_base.launch. Can anyone please help me remapping the topics?

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

miura gravatar image miura  ( 2021-04-05 08:21:35 -0500 )edit

Yes, both have the message type of geometry_msgs/PoseStamped

Kanishk598 gravatar image Kanishk598  ( 2021-04-05 22:32:49 -0500 )edit

Can you try to edit the launch file add remap to it and check if it is working <remap from="/move_base_simple/goal" to="/my_waypoints""/>

mohamed ahmed gravatar image mohamed ahmed  ( 2021-04-06 04:05:43 -0500 )edit
1

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.

miura gravatar image miura  ( 2021-04-06 08:25:42 -0500 )edit