Updated odometry launch include in spawn_car launch

seat_car_description/launch/odometry.launch

@@ -3,24 +3,20 @@
   <arg name="x"     default="0.0"/>
   <arg name="y"     default="-0.2"/>
   <arg name="yaw"   default="0.0"/>
-
-
-  <node pkg ="odometry"
+  
+  <node pkg ="odometry" 
         type="odometry_publisher"
         name="odometry_publisher"
         output="screen">
-    <param name="file_name" value="/opt/ros/modelcar/catkin_ws/install/share/odometry/cfg/SteerAngleActuator.xml"/>
-    <param name="initial_x" value="$(arg x)"/>
-    <param name="initial_y" value="$(arg y)"/>
-    <param name="initial_yaw" value="$(arg yaw)"/>
-    <remap from="/manual_control/steering"
-             to="/steering_angle"/>
-    <remap from="/model_car/twist"
-             to="/twist"/>
-    <remap from="/model_car/yaw"
-             to="/yaw"/>
-    <remap from="~odom"
-             to="/odom"/>
+          <param name="file_name" value="$(find odometry)/cfg/SteerAngleActuator.xml" />
+          <param name="model_car_yaw" value="/yaw" />
+          <param name="model_car_twist" value="/twist" />
+          <param name="steering_command" value="/steering" />
+          <param name="initial_x" value="$(arg x)" />   <!--meters-->
+          <param name="initial_y" value="$(arg y)" />   <!--meters-->
+          <param name="initial_yaw" value="$(arg yaw)" /> <!--radian-->
+          <param name="bicycle_model" value="true" /> <!--use just bicycle model-->
+          <param name="servo_with_feedback" value="true" /> <!--use just bicycle model-->
   </node>
 
 </launch>

seat_car_description/launch/spawn_car.launch

@@ -29,25 +29,6 @@
     <arg name="name" value="$(arg name)"/>
   </include>
   
-  <!-- odometry pkg from https://github.com/AutoModelCar/model_car/tree/version-3 -->
-  <node pkg ="odometry" 
-        type="odometry_publisher" 
-        name="odometry_publisher"
-        output="screen">
-    <param name="file_name" value="/opt/ros/modelcar/catkin_ws/install/share/odometry/cfg/SteerAngleActuator.xml"/>
-    <param name="initial_x" value="$(arg x)"/>
-    <param name="initial_y" value="$(arg y)"/>
-    <param name="initial_yaw" value="$(arg yaw)"/>
-    <remap from="/manual_control/steering"
-             to="/steering_angle"/>
-    <remap from="/model_car/twist"
-             to="/twist"/>
-    <remap from="/model_car/yaw"
-             to="/yaw"/>
-    <remap from="~odom"
-             to="/odom"/>
-  </node>
-  
   <arg name="break_distance" default="0.5"/>
   <arg name="angle"          default="40"/>
   <node pkg="auto_stop"
@@ -82,6 +63,12 @@
     <param name="publish_debug_topics" value="false"/>
     <param name="stateless" value="false"/>
   </node>
+  
+  <include file="$(find seat_car_description)/launch/odometry.launch">
+    <arg name="x"   value="$(arg x)"/>
+    <arg name="y"   value="$(arg y)"/>
+    <arg name="yaw" value="$(arg yaw)"/>
+  </include>
 
   <node name="$(arg name)_static_tf_world_map" pkg="tf" type="static_transform_publisher"
         args="0 0 0 0 0 0 $(arg world_frame) $(arg map_frame) 100"/>