the remapping of /diff_drive_controller/cmd_vel_unstamped to /cmd_vel doesn't work about ros2_control_demos

[christophfroehlich]

The remapping is defined for the robot_state_publisher in here

    robot_state_pub_node = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        output="both",
        parameters=[robot_description],
        remappings=[
            ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
        ],
    )

I think this is not used and even the wrong topic.

but you need it the other way round? Try something like

    control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[robot_description, robot_controllers],
        output="both",
        remappings=[
            ("/cmd_vel", "/diffbot_base_controller/cmd_vel_unstamped"),
        ],
    )

where /diffbot_base_controller/cmd_vel_unstamped should be the correct one. (not tested, even not sure if it has the correct topic type)

[xibeisiber]

Thanks, I didn't notice the wrong name of diffbot_base_controller. the following works

    control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[robot_description, robot_controllers],
        output="both",
        remappings=[
            ( "/diffbot_base_controller/cmd_vel_unstamped", "/cmd_vel"),
        ],
    )

For ros control X ignition gazebo, the controller manager seems to be started by the gz_ros2_control plugin. don't how to do the remapping... I will submit this in gz_ros2_control.