From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 10 Sep 2020 19:55:08 +0000 (-0300)
Subject: Fix gazebo8.lauch in twil_bringup to receive controller configuration yaml as an... 
X-Git-Tag: raulTCC~9
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f0e1ac5bdf9b24a88397961e9dddd8db2f90013e;p=twil.git

Fix gazebo8.lauch in twil_bringup to receive controller configuration yaml as an argument.
---

diff --git a/twil_bringup/launch/gazebo8.launch b/twil_bringup/launch/gazebo8.launch
index 13e387d..0c4bea4 100644
--- a/twil_bringup/launch/gazebo8.launch
+++ b/twil_bringup/launch/gazebo8.launch
@@ -5,6 +5,7 @@
   <arg name="wam" default="false"/>
 
   <arg name="controller" default="nonsmooth_backstep_controller"/>
+  <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
 
   <include file="$(find twil_bringup)/launch/gazebo.launch">
     <arg name="paused" value="$(arg paused)"/>
@@ -12,6 +13,7 @@
     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
     <arg name="wam" value="$(arg wam)"/>
     <arg name="controller" value="$(arg controller)"/>
+    <arg name="config" default="$(arg config)"/>
   </include>
 
   <remap from="/command" to="/$(arg controller)/command" />