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INTERACT-tud-amr / dinova

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Topic names different for gazebo and real robot #1

Closed maxspahn closed 5 months ago

maxspahn commented 5 months ago

Some of the topic names are different for the gazebo simulation and for the real robot. For example: /dinova/command in the real world vs /joints_position_controller/command in the simulator. As the latter cannot be changed easily, see https://github.com/ros-controls/ros_controllers/issues/126, we should consider changing the topic names for the real robot.

Having the same topic eases the transfer of algorithms between both systems.

TomasMerva commented 5 months ago

Commit 930a34a0e2fbea1f23b552ed587599a8a702e8a1 Since I cannot have the same topic name for position and velocity controllers, the topic for the velocity controller for kinova/dinova is called: /kinova/command. It expects the same message type as the real robot.

The topic for controlling dingo in Gazebo is called /omnidrive_velocity_controller/command but the real robot has the topic called /cmd_vel. The best I can do is change the Gazebo topic into /cmd_vel/command but I don't know if it is beneficial.