Use TwistStamped (ros-controls#424)

StoglRobotics-forks · Jan 2, 2024 · efe3aa2 · efe3aa2
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diff --git a/example_2/bringup/config/diffbot_controllers.yaml b/example_2/bringup/config/diffbot_controllers.yaml
@@ -32,7 +32,6 @@ diffbot_base_controller:
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true
-    use_stamped_vel: false
     #velocity_rolling_window_size: 10
 
     # Velocity and acceleration limits

diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
@@ -88,14 +88,16 @@ Tutorial steps
 
    .. code-block:: shell
 
-    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
-      x: 0.7
-      y: 0.0
-      z: 0.0
-    angular:
-      x: 0.0
-      y: 0.0
-      z: 1.0"
+    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+    twist:
+      linear:
+        x: 0.7
+        y: 0.0
+        z: 0.0
+      angular:
+        x: 0.0
+        y: 0.0
+        z: 1.0"
 
    You should now see an orange box circling in *RViz*.
    Also, you should see changing states in the terminal where launch file is started.