nav2: Add twistStamped params as needed

Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Jul 22, 2024 · 940efb9 · 940efb9
1 parent ff7522d
commit 940efb9
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/config/navigation.yaml b/config/navigation.yaml
@@ -150,6 +150,7 @@ smoother_server:
   ros__parameters:
     use_sim_time: *default_use_sim_time
     smoother_plugins: ["simple_smoother"]
+    enable_stamped_cmd_vel: True
     simple_smoother:
       plugin: "nav2_smoother::SimpleSmoother"
 
@@ -159,6 +160,7 @@ behavior_server:
     global_frame: map
     robot_base_frame: base_link
     use_sim_time: *default_use_sim_time
+    enable_stamped_cmd_vel: True
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
       plugin: "nav2_behaviors/Spin"