From 80ed1cb3d7f6275d602361d33cfb1706f9479683 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 10 May 2019 04:38:29 -0300
Subject: [PATCH] Add odometry configuration.

---
 twil_bringup/config/odometry_publisher.yaml |  9 +++++++++
 twil_bringup/launch/gazebo8.launch          | 30 +++++++++++++++++++++++++++++
 2 files changed, 39 insertions(+)
 create mode 100644 twil_bringup/config/odometry_publisher.yaml
 create mode 100644 twil_bringup/launch/gazebo8.launch

diff --git a/twil_bringup/config/odometry_publisher.yaml b/twil_bringup/config/odometry_publisher.yaml
new file mode 100644
index 0000000..c81d863
--- /dev/null
+++ b/twil_bringup/config/odometry_publisher.yaml
@@ -0,0 +1,9 @@
+# Watch-out: The indentation here is relevant to the semantic!
+
+odometry_publisher:
+  wheel_separation: 0.322
+  wheel_radius: [0.075, 0.075]
+  odom_frame_id: "odom"
+  base_frame_id: "twil_origin"
+  publish_rate: 100
+  
\ No newline at end of file
diff --git a/twil_bringup/launch/gazebo8.launch b/twil_bringup/launch/gazebo8.launch
new file mode 100644
index 0000000..bd0af82
--- /dev/null
+++ b/twil_bringup/launch/gazebo8.launch
@@ -0,0 +1,30 @@
+<launch>
+	<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" />
+
+	<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 nonsmooth_backstep_controller)/launch/nonsmooth_backstep.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"/>
+
+  <node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
+
+  <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+
+  <include file="$(find twil_description)/launch/display.launch" />
+
+  <rosparam file="$(find twil_bringup)/config/odometry_publisher.yaml" command="load"/>
+
+  <node pkg="arc_odometry" type="odometry_publisher" name="odom_publisher" />
+
+</launch>
-- 
2.12.0