ROS2 package for converting between Twist and TwistStamped messages.
The package contains two nodes, twist_stamper and twist_unstamper which allow for easy conversion each way.
The twist_stamper node converts Twist messages to TwistStamped. The topics and parameters are:
/cmd_vel_in- ATwisttopic to listen on/cmd_vel_out- ATwistStampedtopic to publishframe_id- Parameter value to set for the output frame ID (default'')
For example, if you had a node such as teleop_twist_joy publishing a Twist message on the topic /cmd_vel and something expecting a TwistStamped message in the my_frame frame on /my_node/cmd_vel you would use the following command:
ros2 run twist_stamper twist_stamper --ros-args -r cmd_vel_in:=cmd_vel -r cmd_vel_out:=my_node/cmd_vel -p frame_id:=my_frame
If unsure, leave frame_id empty.
The twist_unstamper node converts TwistStamped messages to Twist. The topics and parameters are:
/cmd_vel_in- ATwistStampedtopic to listen on/cmd_vel_out- ATwisttopic to publish
For example, if you had a node publishing a TwistStamped message on the topic /cmd_vel_stamped and something expecting a Twist message on /my_node/cmd_vel you would use the following command:
ros2 run twist_stamper twist_unstamper --ros-args -r cmd_vel_in:=cmd_vel_stamped -r cmd_vel_out:=my_node/cmd_vel