From 68b5e715b446c981e19e455243242df0ee644987 Mon Sep 17 00:00:00 2001
From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Thu, 21 Dec 2023 21:54:20 -0300
Subject: [PATCH] changed map server to nav2 launch file

---
 twil_2dnav/launch/localization_amcl.launch.xml                 | 5 -----
 twil_2dnav/launch/localization_slam_toolbox_mapping.launch.xml | 5 -----
 twil_2dnav/launch/localization_static.launch.xml               | 5 -----
 twil_2dnav/launch/nav2_navigator.launch.xml                    | 5 +++++
 4 files changed, 5 insertions(+), 15 deletions(-)

diff --git a/twil_2dnav/launch/localization_amcl.launch.xml b/twil_2dnav/launch/localization_amcl.launch.xml
index 2beb1af..36551cb 100644
--- a/twil_2dnav/launch/localization_amcl.launch.xml
+++ b/twil_2dnav/launch/localization_amcl.launch.xml
@@ -1,11 +1,6 @@
 <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 name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" exec="depthimage_to_laserscan_node">
         <remap from="depth" to="/camera/depth/image_raw"/> 
         <remap from="depth_camera_info" to="/camera/depth/camera_info"/> 
diff --git a/twil_2dnav/launch/localization_slam_toolbox_mapping.launch.xml b/twil_2dnav/launch/localization_slam_toolbox_mapping.launch.xml
index a955bf8..317af47 100644
--- a/twil_2dnav/launch/localization_slam_toolbox_mapping.launch.xml
+++ b/twil_2dnav/launch/localization_slam_toolbox_mapping.launch.xml
@@ -1,11 +1,6 @@
 <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 name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" exec="depthimage_to_laserscan_node">
         <remap from="depth" to="/camera/depth/image_raw"/> 
         <remap from="depth_camera_info" to="/camera/depth/camera_info"/> 
diff --git a/twil_2dnav/launch/localization_static.launch.xml b/twil_2dnav/launch/localization_static.launch.xml
index ec027de..edbfed2 100644
--- a/twil_2dnav/launch/localization_static.launch.xml
+++ b/twil_2dnav/launch/localization_static.launch.xml
@@ -1,11 +1,6 @@
 <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"/>
 
diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index 6920046..98f2543 100644
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -50,6 +50,11 @@
         <param from="$(find-pkg-share twil_2dnav)/config/bt_navigator_params.yaml"/>
     </node>
 
+    <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="robot_localization" exec="ekf_node" name="ekf_filter_node">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param name="odom0" value="/fake_odom"/>
-- 
2.12.0