From 192e1bf51268165e7f991ed60d4a909ce998773b Mon Sep 17 00:00:00 2001
From: Alejandro Lopez Gestoso <alopez@iri.upc.edu>
Date: Wed, 9 Jun 2021 10:14:01 +0200
Subject: [PATCH] Added ivo launch files

---
 launch/ivo_nav_bt_client.launch     | 39 +++++++++++++++++++++++++++
 launch/ivo_nav_bt_client_sim.launch | 41 +++++++++++++++++++++++++++++
 2 files changed, 80 insertions(+)
 create mode 100644 launch/ivo_nav_bt_client.launch
 create mode 100644 launch/ivo_nav_bt_client_sim.launch

diff --git a/launch/ivo_nav_bt_client.launch b/launch/ivo_nav_bt_client.launch
new file mode 100644
index 0000000..8234d51
--- /dev/null
+++ b/launch/ivo_nav_bt_client.launch
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="nav_client" />
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_nav_module)/config/tiago_nav_module_default.yaml" />
+  <arg name="move_base_action" default="/move_base"/>
+  <arg name="move_poi_action" default="/poi_navigation_server/go_to_poi"/>
+  <arg name="move_waypoint_action" default="/pal_waypoint/navigate"/>
+  <arg name="odom_topic" default="/mobile_base_controller/odom"/>
+  <arg name="clear_costmaps_service" default="/move_base/clear_costmaps"/>
+  <arg name="change_map_service" default="/pal_map_manager/change_map"/>
+  <arg name="set_op_mode_service" default="/pal_navigation_sm"/>
+  <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/>
+
+  <arg name="tree_path"          default="$(find tiago_nav_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find tiago_nav_module)/launch/tiago_nav_bt_client.launch">
+    <arg name="node_name"              value="$(arg node_name)" />
+    <arg name="output"                 value="$(arg output)" />
+    <arg name="launch_prefix"          value="$(arg launch_prefix)" />
+    <arg name="config_file"            value="$(arg config_file)" />
+    <arg name="move_base_action"       value="$(arg move_base_action)"/>
+    <arg name="move_poi_action"        value="$(arg move_poi_action)"/>
+    <arg name="move_waypoint_action"   value="$(arg move_waypoint_action)"/>
+    <arg name="odom_topic"             value="$(arg odom_topic)"/>
+    <arg name="clear_costmaps_service" value="$(arg clear_costmaps_service)"/>
+    <arg name="change_map_service"     value="$(arg change_map_service)"/>
+    <arg name="set_op_mode_service"    value="$(arg set_op_mode_service)"/>
+    <arg name="move_base_dyn_reconf"   value="$(arg move_base_dyn_reconf)"/>
+    <arg name="tree_path"       value="$(arg tree_path)"/>
+    <arg name="tree_file"       value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </include>
+
+</launch>
+
diff --git a/launch/ivo_nav_bt_client_sim.launch b/launch/ivo_nav_bt_client_sim.launch
new file mode 100644
index 0000000..6dfa75e
--- /dev/null
+++ b/launch/ivo_nav_bt_client_sim.launch
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="nav_client" />
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_nav_module)/config/tiago_nav_module_default.yaml" />
+  <arg name="move_base_action" default="/move_base"/>
+  <arg name="move_poi_action" default="/poi_navigation_server/go_to_poi"/>
+  <arg name="move_waypoint_action" default="/pal_waypoint/navigate"/>
+  <arg name="odom_topic" default="/mobile_base_controller/odom"/>
+  <arg name="clear_costmaps_service" default="/move_base/clear_costmaps"/>
+  <arg name="change_map_service" default="/pal_map_manager/change_map"/>
+  <arg name="set_op_mode_service" default="/pal_navigation_sm"/>
+  <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/>
+
+  <arg name="tree_path"          default="$(find tiago_nav_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch">
+    <arg name="public_sim" value="true" />
+    <arg name="robot" value="steel" />
+  </include>
+
+  <include file="$(find tiago_nav_module)/launch/tiago_nav_bt_client.launch">
+    <arg name="node_name"              value="$(arg node_name)" />
+    <arg name="output"                 value="$(arg output)" />
+    <arg name="launch_prefix"          value="$(arg launch_prefix)" />
+    <arg name="config_file"            value="$(arg config_file)" />
+    <arg name="move_base_action"       value="$(arg move_base_action)"/>
+    <arg name="move_poi_action"        value="$(arg move_poi_action)"/>
+    <arg name="move_waypoint_action"   value="$(arg move_waypoint_action)"/>
+    <arg name="odom_topic"             value="$(arg odom_topic)"/>
+    <arg name="clear_costmaps_service" value="$(arg clear_costmaps_service)"/>
+    <arg name="change_map_service"     value="$(arg change_map_service)"/>
+    <arg name="set_op_mode_service"    value="$(arg set_op_mode_service)"/>
+    <arg name="move_base_dyn_reconf"   value="$(arg move_base_dyn_reconf)"/>
+  </include>
+
+</launch>
+
-- 
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