Add the unstamper node, remap the republished cmd_vel topic

turtlebot4_bringup/launch/robot.launch.py

@@ -38,6 +38,7 @@
 
 
 def generate_launch_description():
+ republisher_ns = '_do_not_use'
 
  pkg_turtlebot4_bringup = get_package_share_directory('turtlebot4_bringup')
  create3_republisher = get_package_share_directory('create3_republisher')
@@ -79,8 +80,20 @@ def generate_launch_description():
  package='create3_republisher',
  executable='create3_republisher',
  parameters=[create3_repub_param_yaml_file,
- {'robot_namespace': '_do_not_use'}],
+ {'robot_namespace': republisher_ns}],
  output='screen',
+ remappings=[
+ ([republisher_ns, 'cmd_vel'], [republisher_ns, 'cmd_vel_unstamped'])
+ ]
+ )
+ unstamper_node = Node(
+ package='twist_stamper',
+ executable='twist_unstamper',
+ name='twist_unstamper',
+ remappings=[
+ ('cmd_vel_in', [republisher_ns, 'cmd_vel']),
+ ('cmd_vel_out', [republisher_ns, 'cmd_vel_unstamped'])
+ ]
  )
 
  ld = LaunchDescription(ARGUMENTS)
@@ -89,4 +102,5 @@ def generate_launch_description():
  ld.add_action(turtlebot4_node)
  ld.add_action(turtlebot4_base_node)
  ld.add_action(create3_republisher_node)
+ ld.add_action(unstamper_node)
  return ld

turtlebot4_bringup/package.xml

@@ -22,6 +22,7 @@
  <depend version_gte="2.6.1">teleop_twist_joy</depend> <!-- TwistStamped support needed -->
  <depend>tf2_ros</depend>
  <depend>create3_republisher</depend>
+ <depend>twist_stamper</depend>
 
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>