From 71a86bd9bbba2e0022312c5db41d57458ce30de4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Mon, 12 Aug 2024 08:36:40 +0200
Subject: [PATCH] Fix topic remappings (#565)

* Fix remapping for ex2

* Cleanup

* Fix remapping of ex15
---
 .../config/rrbot_namespace_forward_position_publisher.yaml  | 2 +-
 example_15/bringup/launch/rrbot_namespace.launch.py         | 3 ++-
 example_2/bringup/launch/diffbot.launch.py                  | 6 +++---
 example_2/doc/userdoc.rst                                   | 2 +-
 example_7/bringup/launch/r6bot_controller.launch.py         | 6 ------
 5 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml b/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
index c022d0873..2730478bc 100644
--- a/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
+++ b/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
@@ -3,7 +3,7 @@ publisher_forward_position_controller:
 
     wait_sec_between_publish: 5
 
-    publish_topic: /rrbot/forward_position_controller/commands
+    publish_topic: /position_commands
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
     pos1: [0.785, 0.785]
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
index 032bb32a4..d63a0b040 100644
--- a/example_15/bringup/launch/rrbot_namespace.launch.py
+++ b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -71,7 +71,8 @@ def generate_launch_description():
         parameters=[robot_description, robot_controllers],
         remappings=[
             (
-                "/forward_position_controller/commands",
+                # we use the remapping from a relative name to FQN /position_commands
+                "forward_position_controller/commands",
                 "/position_commands",
             ),
         ],
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 0e9787776..1c345464f 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -75,15 +75,15 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
+        remappings=[
+            ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
+        ],
     )
     robot_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        remappings=[
-            ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
-        ],
     )
     rviz_node = Node(
         package="rviz2",
diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
index f5ee8b4cf..207128d4b 100644
--- a/example_2/doc/userdoc.rst
+++ b/example_2/doc/userdoc.rst
@@ -88,7 +88,7 @@ Tutorial steps
 
    .. code-block:: shell
 
-    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+    ros2 topic pub --rate 30 /cmd_vel geometry_msgs/msg/TwistStamped "
     twist:
       linear:
         x: 0.7
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
index e34795b97..f397e5311 100644
--- a/example_7/bringup/launch/r6bot_controller.launch.py
+++ b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -63,12 +63,6 @@ def generate_launch_description():
         package="controller_manager",
         executable="ros2_control_node",
         parameters=[robot_controllers],
-        remappings=[
-            (
-                "/forward_position_controller/commands",
-                "/position_commands",
-            ),
-        ],
         output="both",
     )
     robot_state_pub_node = Node(