Merge pull request #16 from naturerobots/hotfix/use-twist-stamped

fix: use twist stamped
naturerobots · Jan 30, 2024 · 334149f · 334149f
2 parents 1217fc7 + e82c3fa
commit 334149f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mbf_abstract_nav/src/abstract_navigation_server.cpp b/mbf_abstract_nav/src/abstract_navigation_server.cpp
@@ -82,7 +82,7 @@ AbstractNavigationServer::AbstractNavigationServer(const TFPtr &tf_listener_ptr,
   goal_pub_ = node_->create_publisher<geometry_msgs::msg::PoseStamped>("~/current_goal", 1);
 
   // init cmd_vel publisher for the robot velocity
-  vel_pub_ = node_->create_publisher<geometry_msgs::msg::Twist>("~/cmd_vel", 1);
+  vel_pub_ = node_->create_publisher<geometry_msgs::msg::TwistStamped>("~/cmd_vel", 1);
 
   action_server_get_path_ptr_ = rclcpp_action::create_server<mbf_msgs::action::GetPath>(
     node_,