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Fix incorrect topic name in nav2_velocity_smoother README #5564

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Sep 30, 2025
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Fix incorrect topic name in nav2_velocity_smoother README #5564

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4 changes: 2 additions & 2 deletions nav2_velocity_smoother/README.md
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Expand Up @@ -25,7 +25,7 @@ This package was created to do the following:

This is a lifecycle-component node, using the lifecycle manager for state management and composition for process management.
It is designed to take in a command from Nav2's controller server and smooth it for use on robot hardware controllers.
Thusly, it takes in a command via the `cmd_vel` topic and produces a smoothed output on `smoothed_cmd_vel`.
Thusly, it takes in a command via the `cmd_vel` topic and produces a smoothed output on `cmd_vel_smoothed`.

The node is designed on a regular timer running at a configurable rate.
This is in contrast to simply computing a smoothed velocity command in the callback of each `cmd_vel` input from Nav2.
Expand Down Expand Up @@ -66,7 +66,7 @@ velocity_smoother:

| Topic | Type | Use |
|------------------|-------------------------|-------------------------------|
| smoothed_cmd_vel | geometry_msgs/Twist or geometry_msgs/TwistStamped | Publish smoothed velocities |
| cmd_vel_smoothed | geometry_msgs/Twist or geometry_msgs/TwistStamped | Publish smoothed velocities |
| cmd_vel | geometry_msgs/Twist or geometry_msgs/TwistStamped | Subscribe to input velocities |


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