From 940efb9a41d80eb6d4ae5a0f66cdab412f2a1e70 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Mon, 8 Jan 2024 14:31:12 -0700 Subject: [PATCH] nav2: Add twistStamped params as needed Signed-off-by: Ryan Friedman --- config/navigation.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/config/navigation.yaml b/config/navigation.yaml index 81fb5da..5c7c7d5 100644 --- 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"