From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Sun, 3 Dec 2023 20:08:11 +0000 (-0300)
Subject: clean up in nav2 launch
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5fba182695ced41ca346fba07a06701d68b87f86;p=twil.git

clean up in nav2 launch
---

diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index 732d64c..9a3e8be 100644
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -47,15 +47,12 @@
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(find-pkg-share twil_2dnav)/config/behavior_params.yaml"/>
         <param name="robot_base_frame" value="twil_origin"/>
-        <remap from="cmd_vel" to="$(var controller)/command"/>
-        <!-- porque tem dois cmd_vel(aqui e no nav2_controller)?? -->
     </node>
 
 
     <node pkg="nav2_bt_navigator" exec="bt_navigator" name="bt_navigator">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(find-pkg-share twil_2dnav)/config/bt_navigator_params.yaml"/>
-        <!-- <remap from="odom" to="$(var controller)/odom"/> -->
     </node>
 
     <node pkg="robot_localization" exec="ekf_node" name="ekf_filter_node">