Remap to /tf (#506) (#507)

(cherry picked from commit 37b8ceb) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls · Feb 20, 2025 · 567616e · 567616e
1 parent 8a34ce5
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diff --git a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
@@ -77,6 +77,8 @@ def robot_state_publisher(context):
         arguments=['ackermann_steering_controller',
                    '--param-file',
                    robot_controllers,
+                   '--controller-ros-args',
+                   '-r /ackermann_steering_controller/tf_odometry:=/tf',
                    ],
     )
 

diff --git a/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py b/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
@@ -74,6 +74,8 @@ def generate_launch_description():
             'mecanum_drive_controller',
             '--param-file',
             robot_controllers,
+            '--controller-ros-args',
+            '-r /mecanum_drive_controller/tf_odometry:=/tf',
             ],
     )