enable stamped cmd_vel for nav2

ros-navigation/navigation2#4077
cyberbotics · Feb 26, 2024 · c33e9c8 · c33e9c8
1 parent b1db544
commit c33e9c8
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/webots_ros2_tiago/launch/robot_launch.py b/webots_ros2_tiago/launch/robot_launch.py
@@ -116,6 +116,7 @@ def generate_launch_description():
     navigation_nodes = []
     nav2_params_file = 'nav2_params_iron.yaml' if ('ROS_DISTRO' in os.environ
                                                    and os.environ['ROS_DISTRO'] == 'iron') else 'nav2_params.yaml'
+    use_twist_stamped = 'ROS_DISTRO' in os.environ and os.environ['ROS_DISTRO'] == 'rolling'
     nav2_params = os.path.join(package_dir, 'resource', nav2_params_file)
     nav2_map = os.path.join(package_dir, 'resource', 'map.yaml')
     if 'nav2_bringup' in get_packages_with_prefixes():
@@ -126,6 +127,7 @@ def generate_launch_description():
                 ('map', nav2_map),
                 ('params_file', nav2_params),
                 ('use_sim_time', use_sim_time),
+                ('enable_stamped_cmd_vel', use_twist_stamped),
             ],
             condition=launch.conditions.IfCondition(use_nav)))