remap behavior cmd_vel to cmd_vel_nav to not bypass cmd pipeline (ros…

…-navigation#4093)
Marc-Morcos · Jul 4, 2024 · 59ebfce · 59ebfce
1 parent 8724b38
commit 59ebfce
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py
@@ -165,7 +165,7 @@ def generate_launch_description():
                 respawn_delay=2.0,
                 parameters=[configured_params],
                 arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings,
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
             ),
             Node(
                 package='nav2_bt_navigator',
@@ -256,7 +256,7 @@ def generate_launch_description():
                         plugin='behavior_server::BehaviorServer',
                         name='behavior_server',
                         parameters=[configured_params],
-                        remappings=remappings,
+                        remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
                     ),
                     ComposableNode(
                         package='nav2_bt_navigator',