Remap behavior_server cmd_vel to stretch/cmd_vel#232
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hello-jkoubi wants to merge 1 commit intohumblefrom
Open
Remap behavior_server cmd_vel to stretch/cmd_vel#232hello-jkoubi wants to merge 1 commit intohumblefrom
hello-jkoubi wants to merge 1 commit intohumblefrom
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This PR remaps
/cmd_velto/stretch/cmd_velfor thebehavior_servernode to match the existingcontroller_serverremapping.Without this change, Nav2 behavior actions such as
/spinpublish velocity commands to/cmd_vel, while Stretch listens on/stretch/cmd_vel.Tested with:
ros2 action send_goal /spin nav2_msgs/action/Spin "{target_yaw: 1.57, time_allowance: {sec: 20, nanosec: 0}}"