From 4c8816c0550b35d90400366bfc8c0284a14cc540 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 6 Jan 2021 04:15:27 -0300
Subject: [PATCH] Move launch and rviz files related to navigation to
 twil_2dnav.

---
 .../launch/gazebo.launch                           |  11 +++++-----
 twil_2dnav/launch/move_base.launch                 |  24 ++++++++-------------
 .../map/{planta_cores.pgm => centenario1.pgm}      | Bin
 twil_2dnav/map/{map.yaml => centenario1.yaml}      |   2 +-
 .../rviz/twil_2dnav.rviz                           |   0
 5 files changed, 15 insertions(+), 22 deletions(-)
 rename twil_bringup/launch/gazebo_rviz.launch => twil_2dnav/launch/gazebo.launch (72%)
 rename twil_2dnav/map/{planta_cores.pgm => centenario1.pgm} (100%)
 rename twil_2dnav/map/{map.yaml => centenario1.yaml} (79%)
 rename twil_bringup/rviz/gazebo_rviz.rviz => twil_2dnav/rviz/twil_2dnav.rviz (100%)

diff --git a/twil_bringup/launch/gazebo_rviz.launch b/twil_2dnav/launch/gazebo.launch
similarity index 72%
rename from twil_bringup/launch/gazebo_rviz.launch
rename to twil_2dnav/launch/gazebo.launch
index b41ebdb..42030ff 100644
--- a/twil_bringup/launch/gazebo_rviz.launch
+++ b/twil_2dnav/launch/gazebo.launch
@@ -1,9 +1,9 @@
 <launch>
-	<arg name="paused" default="false"/>
+	<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 ="/home/gabriel/Navega/src/twil/twil_description/world/centenario.world"/>
+	<arg name="world" default ="$(find twil_description)/world/centenario.world"/>
 	<arg name="controller" default="twist_mrac_linearizing_controller"/>
         <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
 
@@ -19,14 +19,13 @@
 	</include>
 
 	<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="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
-	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find twil_bringup)/rviz/gazebo_rviz.rviz" required="true"/>
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find twil_2dnav)/rviz/twil_2dnav.rviz" required="true"/>
 
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<include file="$(find twil_2dnav)/launch/move_base.launch" />
 
 </launch>
diff --git a/twil_2dnav/launch/move_base.launch b/twil_2dnav/launch/move_base.launch
index 8696beb..661a00d 100644
--- a/twil_2dnav/launch/move_base.launch
+++ b/twil_2dnav/launch/move_base.launch
@@ -1,19 +1,13 @@
 <launch>
+	<node name="map_server" pkg="map_server" type="map_server" args="$(find twil_2dnav)/map/centenario1.yaml"/>
 
-   <master auto="start"/>
- <!-- Run the map server --> 
-    <node name="map_server" pkg="map_server" type="map_server" args="$(find twil_2dnav)/map/map.yaml"/>
-
- <!--- Run AMCL --> 
-    <!--include file="$(find amcl)/examples/amcl_omni.launch" /-->
-
-   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-	    <rosparam file="$(find twil_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
-	    <rosparam file="$(find twil_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-	    <rosparam file="$(find twil_2dnav)/config/local_costmap_params.yaml" command="load" />
-	    <rosparam file="$(find twil_2dnav)/config/global_costmap_params.yaml" command="load" /> 
-	    <rosparam file="$(find twil_2dnav)/config/base_local_planner_params.yaml" command="load" />
-	   
-   </node>
+	<!--include file="$(find amcl)/examples/amcl_omni.launch" /-->
 
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+		<rosparam file="$(find twil_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+		<rosparam file="$(find twil_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+		<rosparam file="$(find twil_2dnav)/config/local_costmap_params.yaml" command="load" />
+		<rosparam file="$(find twil_2dnav)/config/global_costmap_params.yaml" command="load" />
+		<rosparam file="$(find twil_2dnav)/config/base_local_planner_params.yaml" command="load" />
+	</node>
 </launch> 
diff --git a/twil_2dnav/map/planta_cores.pgm b/twil_2dnav/map/centenario1.pgm
similarity index 100%
rename from twil_2dnav/map/planta_cores.pgm
rename to twil_2dnav/map/centenario1.pgm
diff --git a/twil_2dnav/map/map.yaml b/twil_2dnav/map/centenario1.yaml
similarity index 79%
rename from twil_2dnav/map/map.yaml
rename to twil_2dnav/map/centenario1.yaml
index b9d2a71..f0af6b1 100644
--- a/twil_2dnav/map/map.yaml
+++ b/twil_2dnav/map/centenario1.yaml
@@ -1,4 +1,4 @@
-image: planta_cores.pgm
+image: centenario1.pgm
 resolution: 0.01
 origin: [-16.0, -2.0, 0.0]
 occupied_thresh: 0.7
diff --git a/twil_bringup/rviz/gazebo_rviz.rviz b/twil_2dnav/rviz/twil_2dnav.rviz
similarity index 100%
rename from twil_bringup/rviz/gazebo_rviz.rviz
rename to twil_2dnav/rviz/twil_2dnav.rviz
-- 
2.12.0