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refactor: make diff_controller listen on /core/rwist

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Now you can control it with headless or teleop_keyboard_twist
This commit is contained in:
David
2025-10-10 23:37:19 -05:00
parent 676f86bcd0
commit 6bbb5d8706
1 changed files with 3 additions and 0 deletions
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src/core_rover_description/urdf/ros2_control.xacro
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@@ -30,6 +30,9 @@
<gazebo> <gazebo>
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin"> <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find core_rover_description)/config/ros2_controllers.yaml</parameters> <parameters>$(find core_rover_description)/config/ros2_controllers.yaml</parameters>
<ros>
<remapping>/diff_controller/cmd_vel_unstamped:=/core/twist</remapping>
</ros>
</plugin> </plugin>
</gazebo> </gazebo>