Fix bug that appeared for collision monitor, and change /cmd_vel to /cmd_vel_final to cause no confusion

rosalievanark · geurto · commit c5090148517d · 2026-04-30T16:29:55.000+02:00
Signed-off-by: Rosalie &lt;rosalie.van.ark@alliander.com&gt;
Signed-off-by: Peter Geurts &lt;peter.geurts@proton.me&gt;
diff --git a/alliander_core/src/alliander_description/husarion/urdf/original/gazebo.urdf.xacro b/alliander_core/src/alliander_description/husarion/urdf/original/gazebo.urdf.xacro
@@ -141,4 +141,4 @@
     </gazebo>
   </xacro:macro>
 
-</robot>
+</robot>
diff --git a/alliander_tests/src/alliander_tests/tests/test_collision_monitor.py b/alliander_tests/src/alliander_tests/tests/test_collision_monitor.py
@@ -48,7 +48,7 @@ def callback_function_cmd_vel(msg: TwistStamped) -> None:
 
         test_node.create_subscription(
             msg_type=TwistStamped,
-            topic=f"/{self.platforms['vehicle'].namespace}/cmd_vel",
+            topic=f"/{self.platforms['vehicle'].namespace}/cmd_vel_final",
             callback=callback_function_cmd_vel,
             qos_profile=10,
         )

Original file line number	Diff line number	Diff line change
`@@ -48,7 +48,7 @@ def callback_function_cmd_vel(msg: TwistStamped) -> None:`
`48`	`48`
`49`	`49`	`test_node.create_subscription(`
`50`	`50`	`msg_type=TwistStamped,`
`51`		`- topic=f"/{self.platforms['vehicle'].namespace}/cmd_vel",`
	`51`	`+ topic=f"/{self.platforms['vehicle'].namespace}/cmd_vel_final",`
`52`	`52`	`callback=callback_function_cmd_vel,`
`53`	`53`	`qos_profile=10,`
`54`	`54`	`)`