topic changes

pixel-robotics · May 4, 2022 · fd6e001 · fd6e001
1 parent 4dd64a1
commit fd6e001
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
@@ -31,12 +31,13 @@
 
 namespace
 {
+  // TODO: Find out how to remap these topics from launch files and keep defaults
 constexpr auto DEFAULT_COMMAND_TOPIC = "cmd_vel";
 constexpr auto DEFAULT_COMMAND_UNSTAMPED_TOPIC =
-  "cmd_vel";  // TODO: revert to cmd_vel_unstamped and remap topic
+  "cmd_vel_smoothed";  
 constexpr auto DEFAULT_COMMAND_OUT_TOPIC = "cmd_vel_out";
 constexpr auto DEFAULT_ACKERMANN_OUT_TOPIC = "ackermann";
-constexpr auto DEFAULT_VALIDATED_ACKERMANN_TOPIC = "validated_ackermann";
+constexpr auto DEFAULT_VALIDATED_ACKERMANN_TOPIC = "ackermann";
 constexpr auto DEFAULT_ODOMETRY_TOPIC = "odom";
 constexpr auto DEFAULT_TRANSFORM_TOPIC = "tf";
 }  // namespace