Remapped controller manager topic to robot state publisher topic

Robotic-Decision-Making-Lab · Jun 25, 2024 · ba089a0 · ba089a0
1 parent 1023ca5
commit ba089a0
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diff --git a/blue_demos/control_integration/launch/bluerov2_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_controllers.launch.py
@@ -76,6 +76,9 @@ def generate_launch_description() -> LaunchDescription:
                 ]
             ),
         ],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
     )
 
     velocity_controller_spawner = Node(

diff --git a/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py b/blue_demos/control_integration/launch/bluerov2_heavy_controllers.launch.py
@@ -75,6 +75,9 @@ def generate_launch_description() -> LaunchDescription:
                 ]
             ),
         ],
+        remappings=[
+            ("/controller_manager/robot_description", "/robot_description"),
+        ],
     )
 
     velocity_controller_spawner = Node(
-Original file line number
+Diff line change
@@ Expand Up / @@ -76,6 +76,9 @@ def generate_launch_description() -> LaunchDescription: @@
                     ]
                 ),
             ],
+            remappings=[
+                ("/controller_manager/robot_description", "/robot_description"),
+            ],
         )
         velocity_controller_spawner = Node(
@@ Expand Down @@