Update odom topic

rolker · Jan 26, 2024 · ce3bec8 · ce3bec8
1 parent dbcad75
commit ce3bec8
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Showing 3 changed files with 2 additions and 6 deletions.
diff --git a/config/robot.yaml b/config/robot.yaml
@@ -20,7 +20,7 @@ udp_bridge:
             tf: {source: /tf}
             tf_static: {source: /tf_static}
             control_helm: {source: project11/control/helm}
-            odom: {source: project11/odom}
+            odom: {source: odom}
             nav_visualization_markers: {source: navigator/visualization_markers}
 
 

diff --git a/launch/robot_core.launch b/launch/robot_core.launch
@@ -3,7 +3,6 @@
   <arg name="enableBridge" default="true"/>
   <arg name="localPort" default="4200"/>
   <arg name="default_nav_stack" default="true"/>
-  <arg name="odom_topic" default="project11/odom"/>
   <arg name="bridge_name" default="$(arg namespace)"/>
 
   <rosparam command="load" file="$(find project11)/config/robot.yaml" ns="$(arg namespace)"/>
@@ -26,7 +25,6 @@
     <remap from="nav/orientation" to="project11/nav/orientation"/>
     <remap from="nav/velocity" to="project11/nav/velocity"/>
     <remap from="nav/active_sensor" to="project11/nav/active_sensor"/>
-    <remap from="odom" to="project11/odom"/>
   </node>
 
   <!-- helm_manager is the low level heart of project11. It manages which control messages get 
@@ -38,7 +36,6 @@
     <remap from="heartbeat" to="project11/heartbeat"/>
     <remap from="status/helm" to="project11/status/helm"/>
     <remap from="piloting_mode" to="project11/piloting_mode"/>
-    <remap from="odom" to="$(arg odom_topic)"/>
     <param name="piloting_mode_prefix" value="project11/piloting_mode/"/>
   </node>
 
@@ -52,7 +49,6 @@
   <node pkg="project11_navigation" type="navigator" name="navigator" ns="$(arg namespace)">
     <remap from="~/cmd_vel" to="project11/piloting_mode/autonomous/cmd_vel"/>
     <remap from="~/enable" to="project11/piloting_mode/autonomous/active"/>
-    <remap from="odom" to="project11/odom"/>
   </node>
   <include if="$(arg default_nav_stack)" file="$(find project11_navigation)/launch/default_nav_stack.launch">
     <arg name="namespace" value="$(arg namespace)/navigator"/>

diff --git a/src/project11/nav.py b/src/project11/nav.py
@@ -242,7 +242,7 @@ def __init__(self, tfBuffer = None):
         EarthTransforms.__init__(self, tfBuffer)
         self.odometry = None
 
-        self.odom_sub = rospy.Subscriber('project11/odom', Odometry, self.odometryCallback, queue_size = 1)
+        self.odom_sub = rospy.Subscriber('odom', Odometry, self.odometryCallback, queue_size = 1)
 
 
     def odometryCallback(self, msg):