Hi all,
I have a Rosbot XL with the latest Rosbot_ros version available v1.3.0 installed via snap. The Rosbot XL documentation says that the joystick commands are published on /manual/cmd_vel and, since the topic has higher priority w.r.t /autonomous/cmd_vel, it will override the other commands.
Unfortunately, if I set a namespace (e.g. agv_1) the original topic is not correctly remapped and the joystick commands are published on /agv_1/cmd_vel:
husarion@rosbot:~$ ros2 node info /agv_1/joy2twist
/agv_1/joy2twist
Subscribers:
/agv_1/joy: sensor_msgs/msg/Joy
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/agv_1/cmd_vel: geometry_msgs/msg/TwistStamped
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
Service Servers:
/agv_1/joy2twist/describe_parameters: rcl_interfaces/srv/DescribeParameters
/agv_1/joy2twist/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/agv_1/joy2twist/get_parameters: rcl_interfaces/srv/GetParameters
/agv_1/joy2twist/get_type_description: type_description_interfaces/srv/GetTypeDescription
/agv_1/joy2twist/list_parameters: rcl_interfaces/srv/ListParameters
/agv_1/joy2twist/set_parameters: rcl_interfaces/srv/SetParameters
/agv_1/joy2twist/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
If I launch ‘ps aux | grep -i [j]oy’ I find
root 5408 0.6 0.4 511168 34356 ? Sl 12:29 0:15 /snap/rosbot/474/opt/ros/jazzy/lib/teleop_twist_joy/teleop_node --ros-args -r __node:=jo2twist -r __ns:=/agv_1 -p use_sim_time:=False --params-file /var/snap/rosbot/474/config_dir/rosbot_joy/config/config.yaml -r /diagnostics:=diagnostics -r /tf:=tf -r /tf_static:=tf_static -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=manual/cmd_vel
I see that the problem is that it tries to remap /cmd_vel instead of cmd_vel, so it only works when no namespace is used.
Is there a way to fix it?
Thank you.