From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 8 Jan 2021 05:11:33 +0000 (-0300)
Subject: Merge branch navigation into noetic.
X-Git-Tag: raulTCC~7
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=7815e3df0d929b68e61830c2e9d7c75c260ee973;p=twil.git

Merge branch navigation into noetic.
---

7815e3df0d929b68e61830c2e9d7c75c260ee973
diff --cc twil_2dnav/launch/gazebo.launch
index 0000000,4da76ba..290b290
mode 000000,100644..100644
--- a/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
--- a/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>