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How to remap topic in a ROS2 launch file?

asked 2021-04-22 05:23:05 -0500

g.bardaro
110 ●7 ●12 ●16

Hi everyone,

I am setting up a navigation2 launch file.

I have used this one as a reference, and everything seems to work.

However, I need to remap the /cmd_vel topic. I am not sure what is the syntax to do so in a top-level launch file to have it propagated to a nested launch file.

Thanks for the help

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answered 2021-12-17 04:53:17 -0500

Richard Mark Haes Ellis
56 ●1 ●5 ●3

Found an example on the ros2 tutorials (Foxy)

https://docs.ros.org/en/foxy/How-To-G...

perform remap so both turtles listen to the same command topic

forward_turtlesim_commands_to_second_turtlesim_node = Node(
        package='turtlesim',
        executable='mimic',
        name='mimic',
        remappings=[
            ('/input/pose', '/turtlesim1/turtle1/pose'),
            ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
        ]
    )

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Invaluable for remapping RVIZ' /initial_pose, /goal_pose, and /clicked_point topics (connected to 2D Pose Estimate, 2d Goal Pose, and Publish Point buttons in RVIZ) that are otherwise permanently outside any namespace applied to an RVIZ node. Thank you!

K88 ( 2022-10-19 13:31:55 -0500 )edit

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Asked: 2021-04-22 05:23:05 -0500

Seen: 12,291 times

Last updated: Dec 17 '21

How to remap topic in a ROS2 launch file? edit