From a71ee4be8c0b37ce562e1236a16ace18b080a2a1 Mon Sep 17 00:00:00 2001
From: Henrique Scharlau Coelho <henriquescharlaucoelho@gmail.com>
Date: Sun, 24 Dec 2023 14:06:45 -0300
Subject: [PATCH] moved camera scan node to nav2 becuase it is used by the nav2
 costmap

---
 twil_2dnav/launch/localization_amcl.launch.xml         | 7 -------
 twil_2dnav/launch/localization_slam_toolbox.launch.xml | 7 -------
 twil_2dnav/launch/nav2_navigator.launch.xml            | 7 +++++++
 3 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/twil_2dnav/launch/localization_amcl.launch.xml b/twil_2dnav/launch/localization_amcl.launch.xml
index 36551cb..d695f0c 100644
--- a/twil_2dnav/launch/localization_amcl.launch.xml
+++ b/twil_2dnav/launch/localization_amcl.launch.xml
@@ -1,13 +1,6 @@
 <launch>
     <arg name="use_sim_time" default="false"/>
 
-    <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"/> 
-        <remap from="scan" to="/camera/depth/image_scan"/> 
-        <param name="output_frame" type="str" value="camera_link"/> 
-    </node>
-
     <node pkg="nav2_amcl" exec="amcl" name="amcl">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(find-pkg-share twil_2dnav)/config/amcl_params.yaml"/>
diff --git a/twil_2dnav/launch/localization_slam_toolbox.launch.xml b/twil_2dnav/launch/localization_slam_toolbox.launch.xml
index 317af47..b2dae96 100644
--- a/twil_2dnav/launch/localization_slam_toolbox.launch.xml
+++ b/twil_2dnav/launch/localization_slam_toolbox.launch.xml
@@ -1,13 +1,6 @@
 <launch>
     <arg name="use_sim_time" default="false"/>
 
-    <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"/> 
-        <remap from="scan" to="/camera/depth/image_scan"/> 
-        <param name="output_frame" type="str" value="camera_link"/> 
-    </node>
-
     <node pkg="slam_toolbox" exec="async_slam_toolbox_node" name="slam_toolbox">
         <param name="use_sim_time" value="$(var use_sim_time)" />
         <param from="$(find-pkg-share twil_2dnav)/config/slam_toolbox_mapping_params.yaml"/>
diff --git a/twil_2dnav/launch/nav2_navigator.launch.xml b/twil_2dnav/launch/nav2_navigator.launch.xml
index addee59..c541cc4 100644
--- a/twil_2dnav/launch/nav2_navigator.launch.xml
+++ b/twil_2dnav/launch/nav2_navigator.launch.xml
@@ -56,6 +56,13 @@
         <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"/> 
+        <remap from="scan" to="/camera/depth/image_scan"/> 
+        <param name="output_frame" type="str" value="camera_link"/> 
+    </node>
+
 	<include file="$(find-pkg-share twil_2dnav)/launch/localization_$(var localization).launch.xml">
         <arg name="use_sim_time" value="$(var use_sim_time)"/>
 	</include>
-- 
2.12.0