From 02d46e5aeece9be19791b6e63a9d4ccf1a7d7241 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 13 Sep 2019 08:40:34 +0200
Subject: [PATCH] Added a relay of the cmd_vel topic to move it from the
/ana/ana_odom/cmd_vel_in to /ana/cmd_vel.
---
launch/sim_sample.launch | 8 +++++++-
launch/spawn.launch | 2 +-
2 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/launch/sim_sample.launch b/launch/sim_sample.launch
index 5c40cb8..2a22692 100644
--- a/launch/sim_sample.launch
+++ b/launch/sim_sample.launch
@@ -23,6 +23,12 @@
<arg name="yaw" value="0.0"/>
</include>
+ <node name="cmd_vel_relay"
+ pkg="topic_tools"
+ type="relay"
+ args="/ana/ana_odom/cmd_vel_in /ana/cmd_vel">
+ </node>
+
<node name="rviz"
pkg="rviz"
type="rviz"
@@ -30,4 +36,4 @@
args="-d $(find iri_ana_gazebo)/rviz/$(arg ns).rviz">
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/spawn.launch b/launch/spawn.launch
index 8e44044..9a350e7 100644
--- a/launch/spawn.launch
+++ b/launch/spawn.launch
@@ -22,4 +22,4 @@
</group>
-</launch>
\ No newline at end of file
+</launch>
--
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