From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 26 Sep 2021 06:48:40 +0000 (-0300)
Subject: Add config file to set Gazeo publish_rate.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=21b58e1e743c01438775af7b61bbea18c719ab12;p=q2d.git

Add config file to set Gazeo publish_rate.
---

diff --git a/q2d_description/CMakeLists.txt b/q2d_description/CMakeLists.txt
index 58f2448..078d813 100644
--- a/q2d_description/CMakeLists.txt
+++ b/q2d_description/CMakeLists.txt
@@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
-install(DIRECTORY launch urdf meshes rviz
+install(DIRECTORY config launch urdf meshes rviz
 	DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/q2d_description/config/gazebo.yaml b/q2d_description/config/gazebo.yaml
new file mode 100644
index 0000000..6aeb5e8
--- /dev/null
+++ b/q2d_description/config/gazebo.yaml
@@ -0,0 +1,3 @@
+gazebo:
+        ros__parameters:
+                publish_rate: 1000.0
diff --git a/q2d_description/launch/gazebo.launch.xml b/q2d_description/launch/gazebo.launch.xml
index 1d74ea1..afe8c63 100644
--- a/q2d_description/launch/gazebo.launch.xml
+++ b/q2d_description/launch/gazebo.launch.xml
@@ -10,6 +10,7 @@
 		<arg name="gui" value="$(var gui)"/>
 		<arg name="use_sim_time" value="$(var use_sim_time)"/>
 		<arg name="world" value="worlds/empty_sky.world" />
+		<arg name="extra_gazebo_args" value=" --ros-args --params-file $(find-pkg-share q2d_description)/config/gazebo.yaml"/>
 	</include>
 
 	<include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml">