Merge branch navigation into noetic.

diff --cc twil_2dnav/launch/gazebo.launch
index 0000000,4da76ba..290b290
mode 000000,100644..100644
--- /dev/null
--- 2/twil_2dnav/launch/gazebo.launch
+++ b/twil_2dnav/launch/gazebo.launch
@@@ -1,0 -1,32 +1,34 @@@
+ <launch>
+       <arg name="paused" default="true"/>
+       <arg name="headless" default="false"/>
+       <arg name="use_sim_time" default="true"/>
+       <arg name="wam" default="false"/>
+       <arg name="world" default ="$(find ufrgs_gazebo)/worlds/centenario.world"/>
+       <arg name="controller" default="twist_mrac_linearizing_controller"/>
+         <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
+ 
+       <remap from="/twist_mrac_linearizing_controller/odom" to="/odom" />
+       <remap from="/twist_mrac_linearizing_controller/command" to="/cmd_vel" />
+ 
+       <include file="$(find twil_description)/launch/gazebo.launch" >
+               <arg name="paused" value="$(arg paused)"/>
+               <arg name="headless" value="$(arg headless)"/>
+               <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+               <arg name="wam" value="$(arg wam)"/>
+               <arg name="d435" value="true"/>
+               <arg name="world" value="$(arg world)" />
+       </include>
+ 
++      <rosparam file="$(arg config)" command="load"/>
++
+       <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
+ 
+       <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+ 
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+ 
+       <node name="rviz" pkg="rviz" type="rviz" args="-d $(find twil_2dnav)/rviz/twil_2dnav.rviz" required="true"/>
+ 
+       <include file="$(find twil_2dnav)/launch/move_base.launch" />
+ 
+ </launch>

diff --cc twil_bringup/launch/gazebo.launch
index 4ebefa4,a3065c6..28b9b9e
--- 1/twil_bringup/launch/gazebo.launch
--- 2/twil_bringup/launch/gazebo.launch
+++ b/twil_bringup/launch/gazebo.launch
@@@ -3,9 -3,9 +3,9 @@@
        <arg name="headless" default="false"/>
        <arg name="use_sim_time" default="true"/>
        <arg name="wam" default="false"/>
--      
++
        <arg name="controller" default="joint_effort_controller"/>
 -        <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
 +      <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
  
        <include file="$(find twil_description)/launch/gazebo.launch" >
                <arg name="paused" value="$(arg paused)"/>
@@@ -14,8 -14,6 +14,8 @@@
                <arg name="wam" value="$(arg wam)"/>
        </include>
  
-       
 +      <rosparam file="$(arg config)" command="load"/>
++
        <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
  
  </launch>

diff --cc twil_description/launch/display.launch
Simple merge

diff --cc twil_gazebo_ros_control/CMakeLists.txt
Simple merge