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 cmd_vel from /robot_velocity_controller/cmd_vel
to just /cmd_vel
. I've thought of using a topic relay, but it doesn't seem right. Is there a "native" way to do this in controller_manager
? 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!