possibly a remap required for gazebo simulation /cmd_vel_nav -> /cmd_vel

[Hauwww]

Understand?

None

[Hauwww]

On windows 11 I have in WSL ubuntu 24.04 running. On it I had already installed gazebo harmonic. After I installed turtlebot4 simulation software as according to this link https://turtlebot.github.io/turtlebot4-user-manual/software/turtlebot4_simulator.html with the command sudo apt install ros-jazzy-turtlebot4-simulator ros-jazzy-irobot-create-nodes, I then followed the navigation tutorial in https://turtlebot.github.io/turtlebot4-user-manual/tutorials/navigation.html and in it, it says that "if you are using the simulator, call: ros2 launch turtlebot4_gz_bringup turtlebot4_gz.launch.py nav2:=true slam:=false localization:=true rviz:=true ".

When I run it, I noticed that setting navigation goals in rviz published on the topic /cmd_vel_nav, whereas the turtlebot in gazebo reacts to input form /cmd_vel. I don't know if this is a specific issue for me, but remapping the messages from /cmd_vel_nav to /cmd_vel fixed the issue for me.