br2_fsm_bumgo_cpp does not make Tiago move

[npnquang]

Important!!!

• [x] I have checked that this issue/bug/fix/correction has not been already created before in open or closed issues.

Type of bug

• [ ] A) Typo/error in Figure/text
• [x] B) Bug in code
• [ ] C) General comment, recommendation or petition

Issue Description

When launching Tiago sim and br2_fsm_bumpgo_cpp Node, Tiago does not move despite the message is published to the topics scan_raw and nav_vel.

B) Bug Description

I launched the Tiago and BumpGo node but Tiago does not move. I tried to change the RMW_IMPLEMENTATION to rmw_cyclonedds_cpp, echo the messages being published to the topics and even reclone the repo but nothing happens. When launching the Tiago sim, many warnings are displayed but I'm not sure if those warnings affect the nodes. I just started the book so I'm not sure where to debug this. Any help is much appreciated. Thank you.

how to reproduce

Steps to reproduce the behavior:

1. Execute 'ros2 launch br2_tiago sim.launch.py'
2. Execute 'ros2 launch br2_fsm_bumpgo_cpp bump_and_go.launch.py'

Expected behavior

Tiago robot moves around.

Screenshots

This is the message published to /scan_raw This is the message published to /nav_vel This is the warnings when launching Tiago sim

Desktop (please complete the following information):

• OS: Ubuntu 22.04
• ROS2 Distro: Humble

[zarak3268]

The bumpgo node publishes to /output_vel, which is mapped to /nav_vel. Changing the mapping from /output_vel -> /nav_vel to /output_vel -> /cmd_vel should fix this. This repo was created 2 years ago so maybe back then the /nav_vel topic was used, but I did not find /nav_vel when I ran ros2 topic list, only /cmd_vel

[fmrico]

:thinking: What branch and ROS Distro are you using?

[Cristian-wp]

Hello Dott. @fmrico , I had the same problem in the master branch with Ubuntu22 and ROS2 Humble. Changing the remapping as @zarak3268 said fix the problem.