From ee8dddf7d10a980e5a85a22068610fec3008b63b Mon Sep 17 00:00:00 2001
From: Sai Akella <64731868+A-C-Sai@users.noreply.github.com>
Date: Tue, 12 May 2026 14:24:34 +1000
Subject: [PATCH] docs(turtlesim): fix incomplete remapping in section 6 for
 turtle2 teleop (#6585)
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The remapping example in the "6 Remapping" section only redirected the cmd_vel topic, leaving the rotate_absolute action still targeting turtle1. As a result, arrow key movement worked correctly for turtle2, but the absolute orientation keys (F, G, B, V, C) silently continued to rotate turtle1 instead.

Two changes are made:

1. The prose description is corrected from: "The way to change this behavior is by remapping the cmd_vel topic."

to: "The way to change this behavior is by remapping the cmd_vel topic and the rotate_absolute action."

2. The shell command is updated to include the missing --remap flag:
Before:
ros2 run turtlesim turtle_teleop_key \
--ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel

After:
ros2 run turtlesim turtle_teleop_key \
--ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel \
--remap turtle1/rotate_absolute:=turtle2/rotate_absolute

Testing:
Verified by running both teleop nodes simultaneously — all keys (arrows and orientation) now correctly control their respective turtles.

Signed-off-by: Sai Akella <64731868+A-C-Sai@users.noreply.github.com>
(cherry picked from commit 1c23d4ffbc64ae5585b41a9839f2f2e91b4b83ba)
---
 .../Introducing-Turtlesim/Introducing-Turtlesim.rst           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst b/source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst
index 43c579340e4..b0520583003 100644
--- a/source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst
+++ b/source/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.rst
@@ -237,13 +237,13 @@ That's because there is no teleop node for ``turtle2``.
 
 You need a second teleop node in order to control ``turtle2``.
 However, if you try to run the same command as before, you will notice that this one also controls ``turtle1``.
-The way to change this behavior is by remapping the ``cmd_vel`` topic.
+The way to change this behavior is by remapping the ``cmd_vel`` topic and the ``rotate_absolute`` action.
 
 In a new terminal, source ROS 2, and run:
 
 .. code-block:: console
 
-  $ ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel
+  $ ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel --remap turtle1/rotate_absolute:=turtle2/rotate_absolute
 
 
 Now, you can move ``turtle2`` when this terminal is active, and ``turtle1`` when the other terminal running ``turtle_teleop_key`` is active.