Robot (PMD2) not moving within environment

[sudo-michael]

After some modifications to the provided launch file pmb2_cafe.launch.py I was able to spawn the robot within the environment.

However, when trying to directly control the robot

ros2 topic pub /mobile_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 1}, angular: {z: 0}}' -r10

the robot is unable to move. When using the launch files here, the robot moves fine.

Is there any underlying process within the HuNavSim that prevents the robot from moving? Ideally, I would like to directly control the robot using cmd_vel instead of providing goal locations.

[noeperez]

Hi,

I will look into it and I will get back to you.