From bea2b0d234126f853d0e9dbf6106f60a2b7be2e5 Mon Sep 17 00:00:00 2001 From: aquintan Date: Mon, 22 Jun 2026 09:16:56 +0200 Subject: [PATCH] odometry fix in visual marker loc + delete 2nd publisher with invalid qos --- CustomRobots/turtlebot3/params/turtlebot3.yaml | 9 +++------ database/universes.sql | 2 +- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/CustomRobots/turtlebot3/params/turtlebot3.yaml b/CustomRobots/turtlebot3/params/turtlebot3.yaml index ff3c01384..93a9fa776 100644 --- a/CustomRobots/turtlebot3/params/turtlebot3.yaml +++ b/CustomRobots/turtlebot3/params/turtlebot3.yaml @@ -5,12 +5,9 @@ gz_type_name: "gz.msgs.Odometry" direction: GZ_TO_ROS -# gz topic published by DiffDrive plugin -- ros_topic_name: "turtlebot3/odom_noisy" - gz_topic_name: "turtlebot3/odom_noisy" - ros_type_name: "nav_msgs/msg/Odometry" - gz_type_name: "gz.msgs.Odometry" - direction: GZ_TO_ROS +# NOTE: /turtlebot3/odom_noisy is NOT bridged here. The NoisyOdometryPlugin +# (gz_noisy_odometry) publishes that ROS topic directly. Bridging it would +# create a second, empty publisher with mismatched QoS. # gz topic subscribed to by DiffDrive plugin - ros_topic_name: "turtlebot3/cmd_vel" diff --git a/database/universes.sql b/database/universes.sql index 238550680..8b633cd09 100644 --- a/database/universes.sql +++ b/database/universes.sql @@ -156,7 +156,7 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin; 26 Autoparking Lidar Simple: In line 5 0 27 Vacuums House Roof 26 10 28 Restaurant 21 0 -29 Vacuums House Markers 25 17 +29 Vacuums House Markers 25 21 30 Small Laser Mapping Warehouse 33 21 31 Rescue People Harmonic 31 0 32 Follow Road Harmonic 32 0