From 1f0d71be3277a4f04663156eb3c91a367a68ad78 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 10 May 2019 02:51:26 -0300
Subject: [PATCH] Change launch files in twil_bringup.

---
 twil/package.xml                                                     | 2 +-
 .../config/{effort_control.yaml => joint_effort_controller.yaml}     | 0
 .../config/{velocity_control.yaml => joint_velocity_controller.yaml} | 0
 twil_bringup/launch/{gazebo_joint_effort.launch => gazebo.launch}    | 5 ++++-
 .../launch/{joint_effort.launch => joint_effort_controller.launch}   | 2 +-
 .../{joint_velocity.launch => joint_velocity_controller.launch}      | 2 +-
 twil_bringup/package.xml                                             | 2 +-
 twil_description/package.xml                                         | 2 +-
 twil_gazebo_ros_control/package.xml                                  | 2 +-
 twil_ident/launch/gazebo.launch                                      | 3 ++-
 twil_ident/launch/ident.launch                                       | 2 --
 twil_ident/package.xml                                               | 2 +-
 12 files changed, 13 insertions(+), 11 deletions(-)
 rename twil_bringup/config/{effort_control.yaml => joint_effort_controller.yaml} (100%)
 rename twil_bringup/config/{velocity_control.yaml => joint_velocity_controller.yaml} (100%)
 rename twil_bringup/launch/{gazebo_joint_effort.launch => gazebo.launch} (66%)
 rename twil_bringup/launch/{joint_effort.launch => joint_effort_controller.launch} (71%)
 rename twil_bringup/launch/{joint_velocity.launch => joint_velocity_controller.launch} (71%)

diff --git a/twil/package.xml b/twil/package.xml
index 878dec0..7219538 100644
--- a/twil/package.xml
+++ b/twil/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>twil</name>
-  <version>2.0.1</version>
+  <version>4.0.0</version>
   <description>The twil package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/twil_bringup/config/effort_control.yaml b/twil_bringup/config/joint_effort_controller.yaml
similarity index 100%
rename from twil_bringup/config/effort_control.yaml
rename to twil_bringup/config/joint_effort_controller.yaml
diff --git a/twil_bringup/config/velocity_control.yaml b/twil_bringup/config/joint_velocity_controller.yaml
similarity index 100%
rename from twil_bringup/config/velocity_control.yaml
rename to twil_bringup/config/joint_velocity_controller.yaml
diff --git a/twil_bringup/launch/gazebo_joint_effort.launch b/twil_bringup/launch/gazebo.launch
similarity index 66%
rename from twil_bringup/launch/gazebo_joint_effort.launch
rename to twil_bringup/launch/gazebo.launch
index a4b66ca..8b24b80 100644
--- a/twil_bringup/launch/gazebo_joint_effort.launch
+++ b/twil_bringup/launch/gazebo.launch
@@ -4,6 +4,9 @@
 	<arg name="use_sim_time" default="true"/>
 	<arg name="wam" default="false"/>
 	
+	<arg name="controller" default="joint_effort_controller"/>
+        <arg name="config" default="$(find wam_bringup)/config/$(arg controller).yaml"/>
+
 	<include file="$(find twil_description)/launch/gazebo.launch" >
 		<arg name="paused" value="$(arg paused)"/>
 		<arg name="headless" value="$(arg headless)"/>
@@ -11,6 +14,6 @@
 		<arg name="wam" value="$(arg wam)"/>
 	</include>
 
-	<include file="$(find twil_bringup)/launch/joint_effort.launch" />
+	<include file="$(find twil_bringup)/launch/$(arg controller).launch" />
 
 </launch>
diff --git a/twil_bringup/launch/joint_effort.launch b/twil_bringup/launch/joint_effort_controller.launch
similarity index 71%
rename from twil_bringup/launch/joint_effort.launch
rename to twil_bringup/launch/joint_effort_controller.launch
index 4d4c611..c07df05 100644
--- a/twil_bringup/launch/joint_effort.launch
+++ b/twil_bringup/launch/joint_effort_controller.launch
@@ -1,5 +1,5 @@
 <launch>
-  <rosparam file="$(find twil_bringup)/config/effort_control.yaml" command="load"/>
+  <rosparam file="$(find twil_bringup)/config/joint_effort_controller.yaml" command="load"/>
 
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="left_wheel_joint_effort_controller right_wheel_joint_effort_controller joint_state_controller"/>
diff --git a/twil_bringup/launch/joint_velocity.launch b/twil_bringup/launch/joint_velocity_controller.launch
similarity index 71%
rename from twil_bringup/launch/joint_velocity.launch
rename to twil_bringup/launch/joint_velocity_controller.launch
index 4b12b1f..e2fde74 100644
--- a/twil_bringup/launch/joint_velocity.launch
+++ b/twil_bringup/launch/joint_velocity_controller.launch
@@ -1,5 +1,5 @@
 <launch>
-  <rosparam file="$(find twil_bringup)/config/velocity_control.yaml" command="load"/>
+  <rosparam file="$(find twil_bringup)/config/joint_velocity_controller.yaml" command="load"/>
 
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="joint_state_controller left_wheel_joint_velocity_controller right_wheel_joint_velocity_controller"/>
diff --git a/twil_bringup/package.xml b/twil_bringup/package.xml
index a9c4f83..325399d 100644
--- a/twil_bringup/package.xml
+++ b/twil_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>twil_bringup</name>
-  <version>2.0.1</version>
+  <version>4.0.0</version>
   <description>The twil_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/twil_description/package.xml b/twil_description/package.xml
index e18687f..13b2481 100644
--- a/twil_description/package.xml
+++ b/twil_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>twil_description</name>
-  <version>2.0.1</version>
+  <version>4.0.0</version>
   <description>The twil_description package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/twil_gazebo_ros_control/package.xml b/twil_gazebo_ros_control/package.xml
index 7f730ab..7723f91 100644
--- a/twil_gazebo_ros_control/package.xml
+++ b/twil_gazebo_ros_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>twil_gazebo_ros_control</name>
-  <version>2.0.1</version>
+  <version>4.0.0</version>
   <description>The twil_gazebo_ros_control package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
diff --git a/twil_ident/launch/gazebo.launch b/twil_ident/launch/gazebo.launch
index a18f7f6..80bd7c9 100644
--- a/twil_ident/launch/gazebo.launch
+++ b/twil_ident/launch/gazebo.launch
@@ -9,10 +9,11 @@
 	<remap from="/ident/left_wheel_command" to="/left_wheel_command"/>
 	<remap from="/ident/right_wheel_command" to="/right_wheel_command"/>
 
-	<include file="$(find twil_description)/launch/gazebo.launch" >
+	<include file="$(find twil_bringup)/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="controller" value="joint_effort_controller"/>
 	</include>
 
 	<include file="$(find twil_ident)/launch/ident.launch"/>
diff --git a/twil_ident/launch/ident.launch b/twil_ident/launch/ident.launch
index 51e5697..9af6647 100644
--- a/twil_ident/launch/ident.launch
+++ b/twil_ident/launch/ident.launch
@@ -1,5 +1,3 @@
 <launch>
-  <include file="$(find twil_bringup)/launch/joint_effort.launch" />
-
   <node name="ident" pkg="twil_ident" type="ident" output="screen" />
 </launch>
diff --git a/twil_ident/package.xml b/twil_ident/package.xml
index c824110..7ad62ce 100644
--- a/twil_ident/package.xml
+++ b/twil_ident/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>twil_ident</name>
-  <version>2.0.1</version>
+  <version>4.0.0</version>
   <description>The twil_ident package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
-- 
2.12.0