From be5d846af060124f1ba85f5eba520f509db97b7d Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Wed, 2 Aug 2023 18:02:20 -0600
Subject: [PATCH] AP_DDS: Switch topic to cmd_vel

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 libraries/AP_DDS/README.md            | 2 +-
 libraries/AP_DDS/dds_xrce_profile.xml | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md
index faff721f9a..1131d404ea 100644
--- a/libraries/AP_DDS/README.md
+++ b/libraries/AP_DDS/README.md
@@ -214,7 +214,7 @@ Next, follow the associated section for your chosen transport, and finally you c
   Subscribed topics:
   * /ap/joy [sensor_msgs/msg/Joy] 1 subscriber
   * /ap/tf [tf2_msgs/msg/TFMessage] 1 subscriber
-  * /ap/velocity_control [geometry_msgs/msg/TwistStamped] 1 subscriber
+  * /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber
 
   $ ros2 topic hz /ap/time
   average rate: 50.115
diff --git a/libraries/AP_DDS/dds_xrce_profile.xml b/libraries/AP_DDS/dds_xrce_profile.xml
index 2d46331701..c2f46c1e90 100644
--- a/libraries/AP_DDS/dds_xrce_profile.xml
+++ b/libraries/AP_DDS/dds_xrce_profile.xml
@@ -254,7 +254,7 @@
     </topic>
   </data_reader>
   <topic profile_name="velocitycontrol__t">
-    <name>rt/ap/velocity_control</name>
+    <name>rt/ap/cmd_vel</name>
     <dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
     <historyQos>
       <kind>KEEP_LAST</kind>
@@ -264,7 +264,7 @@
   <data_reader profile_name="velocitycontrol__dr">
     <topic>
       <kind>NO_KEY</kind>
-      <name>rt/ap/velocity_control</name>
+      <name>rt/ap/cmd_vel</name>
       <dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
     </topic>
   </data_reader>