fix: use twist stamped

naturerobots · Jan 30, 2024 · 53a0378 · 53a0378
1 parent d60dac2
commit 53a0378
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/mbf_mesh_nav/include/mbf_mesh_nav/mesh_controller_execution.h b/mbf_mesh_nav/include/mbf_mesh_nav/mesh_controller_execution.h
@@ -75,7 +75,7 @@ class MeshControllerExecution : public mbf_abstract_nav::AbstractControllerExecu
    */
   MeshControllerExecution(const std::string& name, const mbf_mesh_core::MeshController::Ptr& controller_ptr,
                           const mbf_utility::RobotInformation::ConstPtr& robot_info,
-                          const rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr& vel_pub, const rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr& goal_pub,
+                          const rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr& vel_pub, const rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr& goal_pub,
                           const MeshPtr& mesh_ptr, const rclcpp::Node::SharedPtr& node);
 
   /**

diff --git a/mbf_mesh_nav/src/mesh_controller_execution.cpp b/mbf_mesh_nav/src/mesh_controller_execution.cpp
@@ -41,7 +41,7 @@ namespace mbf_mesh_nav
 MeshControllerExecution::MeshControllerExecution(const std::string& name,
                                                  const mbf_mesh_core::MeshController::Ptr& controller_ptr,
                                                  const mbf_utility::RobotInformation::ConstPtr& robot_info,
-                                                 const rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr& vel_pub,
+                                                 const rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr& vel_pub,
                                                  const rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr& goal_pub,
                                                  const MeshPtr& mesh_ptr,
                                                  const rclcpp::Node::SharedPtr& node)