From 6bbb5d87060e57b4623cf325cf5fb5bc857542a9 Mon Sep 17 00:00:00 2001
From: David <ds0196@uah.edu>
Date: Fri, 10 Oct 2025 23:37:19 -0500
Subject: [PATCH] refactor: make diff_controller listen on /core/rwist

Now you can control it with headless or teleop_keyboard_twist
---
 src/core_rover_description/urdf/ros2_control.xacro | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/core_rover_description/urdf/ros2_control.xacro b/src/core_rover_description/urdf/ros2_control.xacro
index 7924e1f..32ca293 100644
--- a/src/core_rover_description/urdf/ros2_control.xacro
+++ b/src/core_rover_description/urdf/ros2_control.xacro
@@ -30,6 +30,9 @@
     <gazebo>
         <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
             <parameters>$(find core_rover_description)/config/ros2_controllers.yaml</parameters>
+            <ros>
+                <remapping>/diff_controller/cmd_vel_unstamped:=/core/twist</remapping>
+            </ros>
         </plugin>
     </gazebo>