Change dependency on nav2_bringup to navigation2.

diff --git a/twil_2dnav/CMakeLists.txt b/twil_2dnav/CMakeLists.txt
index d873c31..750afd8 100644 (file)
--- a/twil_2dnav/CMakeLists.txt
+++ b/twil_2dnav/CMakeLists.txt
@@ -9,7 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(twil_bringup REQUIRED)
 find_package(twil_description REQUIRED)
-find_package(nav2_bringup REQUIRED)
+find_package(navigation2 REQUIRED)
 
 install(DIRECTORY config launch rviz
        DESTINATION share/${PROJECT_NAME}

diff --git a/twil_2dnav/package.xml b/twil_2dnav/package.xml
index 365f869..7fceca3 100644 (file)
--- a/twil_2dnav/package.xml
+++ b/twil_2dnav/package.xml
@@ -12,7 +12,7 @@
 
   <depend>twil_bringup</depend>
   <depend>twil_description</depend>
-  <depend>nav2_bringup</depend>
+  <depend>navigation2</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/twil_2dnav/rviz/twil_2dnav.rviz b/twil_2dnav/rviz/twil_2dnav.rviz
index db2a793..482caed 100644 (file)
--- a/twil_2dnav/rviz/twil_2dnav.rviz
+++ b/twil_2dnav/rviz/twil_2dnav.rviz
@@ -235,7 +235,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /command_stamped
+        Value: /goal_pose
       Value: true
     - Angle Tolerance: 0.10000000149011612
       Class: rviz_default_plugins/Odometry