Correct way to map velocity_controller/cmd_vel to /cmd_vel
Hello!
I've created a differential robot using ros_control
packages and everything works as expected. The only thing I couldn't quite get right is how to change the topic keeping track of the cmdvel from `/robotvelocitycontroller/cmdvelto just
/cmdvel. I've thought of using a topic relay, but it doesn't seem right. Is there a "native" way to do this in
controllermanager`? What is the correct way to do this?
Also, the same happens for the Odometry. I'd like for it to be published in /odom
, but it is currently being published in /robot_velocity_controller/odom
. Can I apply the same fix from cmd_vel
?
Thank you!
Asked by lucash on 2021-08-07 10:30:55 UTC
Answers
Remapping, see this similar question:
https://answers.ros.org/question/9248/how-do-you-remap-a-topic/
Asked by 404RobotNotFound on 2021-08-07 15:26:56 UTC
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