Migrating twist to twiststamped in simulations (#16)

SteveMacenski · web-flow · commit 091b5ff12436 · 2024-12-03T12:17:50.000-08:00
Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
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
 
