From 2758c257650d3fae5f9474c66f25fee978cb71ed Mon Sep 17 00:00:00 2001
From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Sat, 16 Dec 2023 21:55:33 -0300
Subject: [PATCH] added static map odom transform localization option

---
 twil_2dnav/launch/gazebo.launch.xml              |  2 +-
 twil_2dnav/launch/localization_static.launch.xml | 23 +++++++++++++++++++++++
 twil_2dnav/launch/nav2_navigator.launch.xml      |  2 +-
 3 files changed, 25 insertions(+), 2 deletions(-)
 create mode 100644 twil_2dnav/launch/localization_static.launch.xml

diff --git a/twil_2dnav/launch/gazebo.launch.xml b/twil_2dnav/launch/gazebo.launch.xml
index 902349d..2edc592 100644
--- a/twil_2dnav/launch/gazebo.launch.xml
+++ b/twil_2dnav/launch/gazebo.launch.xml
@@ -27,7 +27,7 @@
 	<arg name="gps" default="false"/>
 	<arg name="world" default ="$(find-pkg-share ufrgs_gazebo)/worlds/centenario.world"/>
 	<arg name="controller" default="twist_mrac_linearizing_controller"/>
-	<arg name="localization" default="slam_toolbox_mapping"/>
+	<arg name="localization" default="static"/>
 	<arg name="config" default="$(find-pkg-share twil_2dnav)/config/$(var controller)_no_tf.yaml"/>
 
 	<include file="$(find-pkg-share twil_bringup)/launch/gazebo.launch.xml">
diff --git a/twil_2dnav/launch/localization_static.launch.xml b/twil_2dnav/launch/localization_static.launch.xml
new file mode 100644
index 0000000..ec027de
--- /dev/null
+++ b/twil_2dnav/launch/localization_static.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+    <arg name="use_sim_time" default="false"/>
+
+    <node pkg="nav2_map_server" name="map_server" exec="map_server">
+        <param name="use_sim_time" value="$(var use_sim_time)"/>
+        <param name="yaml_filename" value="$(find-pkg-share ufrgs_maps)/map/centenario1.yaml"/>
+    </node>
+
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" 
+        args="--frame-id map --child-frame-id odom"/>
+
+    <node pkg="nav2_lifecycle_manager" exec="lifecycle_manager" name="lifecycle_manager_nav2">
+        <param name="use_sim_time" value="$(var use_sim_time)"/>
+        <param name="autostart" value="$(var autostart)"/>
+        <param name="node_names" value="[
+            'map_server',
+            'controller_server',
+            'planner_server',
+            'behavior_server',
+            'bt_navigator']"/>
+    </node>
+</launch>
+
diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index 5839133..88174cc 100644
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -24,7 +24,7 @@
     <arg name="map" default="$(find-pkg-share ufrgs_maps)/map/centenario1.yaml"/>
     <arg name="autostart" default="true"/>
     <arg name="controller" default=""/>
-    <arg name="localization" default="slam_toolbox_mapping"/>
+    <arg name="localization" default=""/>
 
     <node pkg="nav2_controller" exec="controller_server" name="controller_server">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
-- 
2.12.0