Teleop_twist_keyboard now working

[LucasSchneiderRS]

Hi!

I´m using:
Pi5 Ubuntu 24.04
ROS2 Jassy

I think everything is working. Getting feedback ok from the serial port.
If I change the line 179 of the hoverboard_hardware_interface.cpp, the wheels start to spinning ok. And the robot moving ok at the Rviz2
I tried to log the leftWheel.command/rightWheel.command and it never change form 0;

const double speed = ((leftWheel.command / 0.10472) + (rightWheel.command / 0.10472)) / 2.0;
speed = 10.0;

Tried to use the teleop_twist_keyboard whith these topics without sucess:
/cmd_vel, /hoverboard_base_controller/cmd_vel and /hoverboard_base_controller/cmd_vel_unstamped

Any Ideas? What Can I check else?

OBS:::

So, sortouted the situation: in the new versions of ROS2 diff_drive_controller, the it only accepts TwistStamped messages.
So i use the twist_stamper https://github.com/joshnewans/twist_stamper and now it works ok!

The use_stamped_vel: false on hoverboard_controllers.yaml doesn´t work anymore