keyboard teleop instuction needs remap in jazzy #27
Comments
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Thanks for bringing this to our attention. I've made a change to the manual to specify that the Unstamped messages are deprecated in Jazzy, and may eventually be removed, so using the original topic but publishing stamped messages is preferable. |
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That makes more sense. The command at line 88 needs this amending for jazzy as well |
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The command on line 88 of This command should be correct for Jazzy already; the necessary parameter to use stamped messages is set in the launch file, so assuming you have the Jazzy branch checked-out already you should automatically get stamped messages for joystick teleoperation. |
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Oh, sorry. The old line 88. Unfortunate coincidence that both before & after the change I made have commands on them. |
Robot Model
Turtlebot4 Lite
ROS distro
Jazzy
Networking Configuration
Discovery Server
OS
Ubuntu 22.04
Built from source or installed?
Installed
Package version
v 2.0.0 of TurtleBot user manual
Expected behaviour
running the command on line 47 in tutorials/driving.md should enable keystrokes to move the robot move, but the topic it now needs to publish on is now cmd_vel_unstamped, so the command should include
--ros-args -r cmd_vel:=cmd_vel_unstamped
not sure whether the line should be just edited in place, or added as an additional line within jazzy statements, so have not submitted a pull request
also line 88. ros2 topic pub /cmd_vel geometry_msgs/msg/Twist . cmd_vel should also be cmd_vel_unstamped
Actual behaviour
robot does not move
Error messages
No response
To Reproduce
follow instructions in tutorial in jazzy up to the line
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Other notes
No response
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