From 35593ee0cdbad409a78b1b16386e734cc9e88f2d Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 1 Feb 2024 13:53:18 -0800 Subject: [PATCH] remap behavior cmd_vel to cmd_vel_nav to not bypass cmd pipeline --- nav2_bringup/launch/navigation_launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py index 36cf6384cd6..84d63e026c6 100644 --- a/nav2_bringup/launch/navigation_launch.py +++ b/nav2_bringup/launch/navigation_launch.py @@ -165,7 +165,7 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings, + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], ), Node( package='nav2_bt_navigator', @@ -256,7 +256,7 @@ def generate_launch_description(): plugin='behavior_server::BehaviorServer', name='behavior_server', parameters=[configured_params], - remappings=remappings, + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], ), ComposableNode( package='nav2_bt_navigator',