From 43ceed8389a08d496003a367405be33f6a155860 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 10 Sep 2020 00:26:21 -0300
Subject: [PATCH] Fix launch and yaml files.

---
 .../adaptive_dynamics_linearizing_controller.yaml  |  1 +
 .../adaptive_nonsmooth_backstep_controller.yaml    |  1 +
 ...daptive_dynamics_linearizing_controller.launch} |  0
 ... adaptive_nonsmooth_backstep_controller.launch} |  0
 .../launch/dynamics_linearizing_controller.launch  |  2 --
 twil_bringup/launch/gazebo.launch                  |  2 ++
 twil_bringup/launch/gazebo8.launch                 | 30 +++++++++++++---------
 twil_bringup/launch/joint_effort_controller.launch |  2 --
 .../launch/joint_velocity_controller.launch        |  2 --
 ...launch => nonsmooth_backstep_controller.launch} |  2 --
 .../twist_mrac_linearizing_controller.launch       |  2 --
 11 files changed, 22 insertions(+), 22 deletions(-)
 create mode 120000 twil_bringup/config/adaptive_dynamics_linearizing_controller.yaml
 create mode 120000 twil_bringup/config/adaptive_nonsmooth_backstep_controller.yaml
 rename twil_bringup/launch/{adaptive_dynamics_linearizing.launch => adaptive_dynamics_linearizing_controller.launch} (100%)
 rename twil_bringup/launch/{adaptive_nonsmooth_backstep.launch => adaptive_nonsmooth_backstep_controller.launch} (100%)
 rename twil_bringup/launch/{nonsmooth_backstep.launch => nonsmooth_backstep_controller.launch} (65%)

diff --git a/twil_bringup/config/adaptive_dynamics_linearizing_controller.yaml b/twil_bringup/config/adaptive_dynamics_linearizing_controller.yaml
new file mode 120000
index 0000000..0f2e5a6
--- /dev/null
+++ b/twil_bringup/config/adaptive_dynamics_linearizing_controller.yaml
@@ -0,0 +1 @@
+dynamics_linearizing_controller.yaml
\ No newline at end of file
diff --git a/twil_bringup/config/adaptive_nonsmooth_backstep_controller.yaml b/twil_bringup/config/adaptive_nonsmooth_backstep_controller.yaml
new file mode 120000
index 0000000..c276402
--- /dev/null
+++ b/twil_bringup/config/adaptive_nonsmooth_backstep_controller.yaml
@@ -0,0 +1 @@
+nonsmooth_backstep_controller.yaml
\ No newline at end of file
diff --git a/twil_bringup/launch/adaptive_dynamics_linearizing.launch b/twil_bringup/launch/adaptive_dynamics_linearizing_controller.launch
similarity index 100%
rename from twil_bringup/launch/adaptive_dynamics_linearizing.launch
rename to twil_bringup/launch/adaptive_dynamics_linearizing_controller.launch
diff --git a/twil_bringup/launch/adaptive_nonsmooth_backstep.launch b/twil_bringup/launch/adaptive_nonsmooth_backstep_controller.launch
similarity index 100%
rename from twil_bringup/launch/adaptive_nonsmooth_backstep.launch
rename to twil_bringup/launch/adaptive_nonsmooth_backstep_controller.launch
diff --git a/twil_bringup/launch/dynamics_linearizing_controller.launch b/twil_bringup/launch/dynamics_linearizing_controller.launch
index 6155e53..2c69505 100644
--- a/twil_bringup/launch/dynamics_linearizing_controller.launch
+++ b/twil_bringup/launch/dynamics_linearizing_controller.launch
@@ -1,6 +1,4 @@
 <launch>
-  <rosparam file="$(find twil_bringup)/config/dynamics_linearizing_controller.yaml" command="load"/>
-
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="joint_state_controller dynamics_linearizing_controller"/>
 </launch>
diff --git a/twil_bringup/launch/gazebo.launch b/twil_bringup/launch/gazebo.launch
index a3065c6..a00ad3f 100644
--- a/twil_bringup/launch/gazebo.launch
+++ b/twil_bringup/launch/gazebo.launch
@@ -14,6 +14,8 @@
 		<arg name="wam" value="$(arg wam)"/>
 	</include>
 
+	<rosparam file="$(arg config)" command="load"/>
+	
 	<include file="$(find twil_bringup)/launch/$(arg controller).launch" />
 
 </launch>
diff --git a/twil_bringup/launch/gazebo8.launch b/twil_bringup/launch/gazebo8.launch
index 34c9502..ed3c065 100644
--- a/twil_bringup/launch/gazebo8.launch
+++ b/twil_bringup/launch/gazebo8.launch
@@ -1,19 +1,25 @@
 <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="paused" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="wam" default="false"/>
 
-  <remap from="/command" to="/nonsmooth_backstep_controller/command" />
+  <arg name="controller" default="nonsmooth_backstep_controller"/>
+  <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)"/>
-		<arg name="headless" value="$(arg headless)"/>
-		<arg name="use_sim_time" value="$(arg use_sim_time)"/>
-		<arg name="wam" value="$(arg wam)"/>
-	</include>
 
-  <include file="$(find twil_bringup)/launch/nonsmooth_backstep.launch" />
+  <remap from="/command" to="/$(arg controller)/command" />
+
+  <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="$(arg wam)"/>
+  </include>
+
+  <rosparam file="$(arg config)" command="load"/>
+
+  <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
 
   <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5  _radius:=1.0 _ang_vel:=0.1"/>
 
diff --git a/twil_bringup/launch/joint_effort_controller.launch b/twil_bringup/launch/joint_effort_controller.launch
index c07df05..c982dd1 100644
--- a/twil_bringup/launch/joint_effort_controller.launch
+++ b/twil_bringup/launch/joint_effort_controller.launch
@@ -1,6 +1,4 @@
 <launch>
-  <rosparam file="$(find twil_bringup)/config/joint_effort_controller.yaml" command="load"/>
-
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="left_wheel_joint_effort_controller right_wheel_joint_effort_controller joint_state_controller"/>
 </launch>
diff --git a/twil_bringup/launch/joint_velocity_controller.launch b/twil_bringup/launch/joint_velocity_controller.launch
index e2fde74..c6993b6 100644
--- a/twil_bringup/launch/joint_velocity_controller.launch
+++ b/twil_bringup/launch/joint_velocity_controller.launch
@@ -1,6 +1,4 @@
 <launch>
-  <rosparam file="$(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"/>
 </launch>
diff --git a/twil_bringup/launch/nonsmooth_backstep.launch b/twil_bringup/launch/nonsmooth_backstep_controller.launch
similarity index 65%
rename from twil_bringup/launch/nonsmooth_backstep.launch
rename to twil_bringup/launch/nonsmooth_backstep_controller.launch
index 76b9f4a..6f19272 100644
--- a/twil_bringup/launch/nonsmooth_backstep.launch
+++ b/twil_bringup/launch/nonsmooth_backstep_controller.launch
@@ -1,6 +1,4 @@
 <launch>
-  <rosparam file="$(find twil_bringup)/config/nonsmooth_backstep_controller.yaml" command="load"/>
-
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="joint_state_controller nonsmooth_backstep_controller"/>
 </launch>
diff --git a/twil_bringup/launch/twist_mrac_linearizing_controller.launch b/twil_bringup/launch/twist_mrac_linearizing_controller.launch
index 9c45ed6..97763c3 100644
--- a/twil_bringup/launch/twist_mrac_linearizing_controller.launch
+++ b/twil_bringup/launch/twist_mrac_linearizing_controller.launch
@@ -1,6 +1,4 @@
 <launch>
-  <rosparam file="$(find twil_bringup)/config/twist_mrac_linearizing_controller.yaml" command="load"/>
-
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" args="joint_state_controller twist_mrac_linearizing_controller"/>
 </launch>
-- 
2.12.0