initialpose topic sets now position of base_link allowing relocation

2026-02-08 01:58:33 +01:00
parent fc5fecdfc1
commit 1ff4810334
3 changed files with 44 additions and 7 deletions
--- a/toid_control/launch/toid.launch.py
+++ b/toid_control/launch/toid.launch.py
@@ -47,7 +47,7 @@ def generate_launch_description():
        package='toid_odometry',
        executable='toid_odometry',
        name='map_to_odom_broadcaster',
-        arguments={'use_mock': use_mock},
+        parameters=[{'mock_odom': use_mock}],
        condition=IfCondition(LaunchConfiguration('visualize'))
    )

--- a/toid_control/params/toid_general_params.yaml
+++ b/toid_control/params/toid_general_params.yaml
@@ -1,6 +1,6 @@
 controller_manager:
  ros__parameters:
-    update_rate: 200
+    update_rate: 50

    diffdrive_controller:
      type: diff_drive_controller/DiffDriveController