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Author: stevedanomodolor

nav2_minimal_tb3_sim/configs/turtlebot3_waffle_gps_bridge.yaml

@@ -1,13 +1,11 @@
 # replace clock_bridge
-- ros_topic_name: "/clock"
-  gz_topic_name: "/clock"
+- topic_name: "/clock"
   ros_type_name: "rosgraph_msgs/msg/Clock"
   gz_type_name: "gz.msgs.Clock"
   direction: GZ_TO_ROS
 
 # no equivalent in TB3 - add
-- ros_topic_name: "joint_states"
-  gz_topic_name: "joint_states"
+- topic_name: "joint_states"
   ros_type_name: "sensor_msgs/msg/JointState"
   gz_type_name: "gz.msgs.Model"
   direction: GZ_TO_ROS
@@ -22,29 +20,25 @@
 # replace odom_tf_bridge - check gz and ros topic names
 # gz topic published by DiffDrive plugin
 # prefix ros2 topic with gz
-- ros_topic_name: "tf"
-  gz_topic_name: "/tf"
+- topic_name: "tf"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
 
 # replace imu_bridge - check gz topic name
-- ros_topic_name: "imu/data"
-  gz_topic_name: "/imu/data"
+- topic_name: "imu/data"
   ros_type_name: "sensor_msgs/msg/Imu"
   gz_type_name: "gz.msgs.IMU"
   direction: GZ_TO_ROS
 
 # replace lidar_bridge
-- ros_topic_name: "scan"
-  gz_topic_name: "/scan"
+- topic_name: "scan"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "gz.msgs.LaserScan"
   direction: GZ_TO_ROS
 
 # replace cmd_vel_bridge
-- ros_topic_name: "cmd_vel"
-  gz_topic_name: "/cmd_vel"
+- topic_name: "cmd_vel"
   ros_type_name: "geometry_msgs/msg/TwistStamped"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ