From c0daf19b08dcdffd22a83f980c958c01f83d4801 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 10 Sep 2020 16:24:04 -0300
Subject: [PATCH] Change gazebo8.launch to use gazebo.launch in twil_bringup.

---
 twil_bringup/launch/gazebo8.launch | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/twil_bringup/launch/gazebo8.launch b/twil_bringup/launch/gazebo8.launch
index ed3c065..13e387d 100644
--- a/twil_bringup/launch/gazebo8.launch
+++ b/twil_bringup/launch/gazebo8.launch
@@ -5,21 +5,16 @@
   <arg name="wam" default="false"/>
 
   <arg name="controller" default="nonsmooth_backstep_controller"/>
-  <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
 
-
-  <remap from="/command" to="/$(arg controller)/command" />
-
-  <include file="$(find twil_description)/launch/gazebo.launch" >
+  <include file="$(find twil_bringup)/launch/gazebo.launch">
     <arg name="paused" value="$(arg paused)"/>
     <arg name="headless" value="$(arg headless)"/>
     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
     <arg name="wam" value="$(arg wam)"/>
+    <arg name="controller" value="$(arg controller)"/>
   </include>
 
-  <rosparam file="$(arg config)" command="load"/>
-
-  <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
+  <remap from="/command" to="/$(arg controller)/command" />
 
   <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"/>
 
-- 
2.12.0