Migrating twist to twiststamped in simulations (#16)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
ros-navigation · Dec 3, 2024 · 091b5ff · 091b5ff
1 parent 8bfff84
commit 091b5ff
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/nav2_minimal_tb3_sim/configs/turtlebot3_waffle_bridge.yaml b/nav2_minimal_tb3_sim/configs/turtlebot3_waffle_bridge.yaml
@@ -39,6 +39,6 @@
 
 # replace cmd_vel_bridge
 - topic_name: "cmd_vel"
-  ros_type_name: "geometry_msgs/msg/Twist"
+  ros_type_name: "geometry_msgs/msg/TwistStamped"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
diff --git a/nav2_minimal_tb3_sim/configs/turtlebot3_waffle_gps_bridge.yaml b/nav2_minimal_tb3_sim/configs/turtlebot3_waffle_gps_bridge.yaml
@@ -39,7 +39,7 @@
 
 # replace cmd_vel_bridge
 - topic_name: "cmd_vel"
-  ros_type_name: "geometry_msgs/msg/Twist"
+  ros_type_name: "geometry_msgs/msg/TwistStamped"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
 

diff --git a/nav2_minimal_tb4_sim/configs/tb4_bridge.yaml b/nav2_minimal_tb4_sim/configs/tb4_bridge.yaml
@@ -46,7 +46,7 @@
 # replace cmd_vel_bridge
 - ros_topic_name: "cmd_vel"
   gz_topic_name: "/cmd_vel"
-  ros_type_name: "geometry_msgs/msg/Twist"
+  ros_type_name: "geometry_msgs/msg/TwistStamped"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ