From dd5fecda27a3d3094c727b277983b3d94771041d Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 15 May 2018 12:38:08 +0200
Subject: [PATCH] Added separate odometry launch

---
 seat_car_description/launch/odometry.launch | 26 +++++++++++++++++++++
 1 file changed, 26 insertions(+)
 create mode 100644 seat_car_description/launch/odometry.launch

diff --git a/seat_car_description/launch/odometry.launch b/seat_car_description/launch/odometry.launch
new file mode 100644
index 0000000..a36ead6
--- /dev/null
+++ b/seat_car_description/launch/odometry.launch
@@ -0,0 +1,26 @@
+<!-- -->
+<launch>
+  <arg name="x"     default="0.0"/>
+  <arg name="y"     default="-0.2"/>
+  <arg name="yaw"   default="0.0"/>
+
+
+  <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>
+
+</launch>
-- 
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