From f3842889f3e6d1d4a1b25847c0bc9195b2784269 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sun, 5 Apr 2020 15:27:04 +0900
Subject: [PATCH] add topicname args to navigation launch (#137)

* add topic args to navigation launch files
---
 fetch_navigation/launch/fetch_nav.launch   | 14 +++++++++++++-
 fetch_navigation/launch/freight_nav.launch | 14 +++++++++++++-
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/fetch_navigation/launch/fetch_nav.launch b/fetch_navigation/launch/fetch_nav.launch
index c107f1af..b05b149a 100644
--- a/fetch_navigation/launch/fetch_nav.launch
+++ b/fetch_navigation/launch/fetch_nav.launch
@@ -11,6 +11,12 @@
   <arg name="move_base_include" default="$(find fetch_navigation)/launch/include/move_base.launch.xml" />
   <arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />
 
+  <!-- set topics -->
+  <arg name="scan_topic" default="base_scan" />
+  <arg name="map_topic" default="map" />
+  <arg name="cmd_vel_topic" default="cmd_vel" />
+  <arg name="odom_topic" default="odom" />
+
   <!-- serve up a map -->
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
 
@@ -23,12 +29,18 @@
   </group>
 
   <!-- localize the robot -->
-  <include file="$(arg amcl_include)" />
+  <include file="$(arg amcl_include)" >
+    <arg name="scan_topic" value="$(arg scan_topic)" />
+    <arg name="map_topic" value="$(arg map_topic)" />
+  </include>
 
   <!-- move the robot -->
   <include file="$(arg move_base_include)" >
     <arg name="name" value="fetch" />
     <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
+    <arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
+    <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
+    <arg name="odom_topic" value="$(arg odom_topic)" />
   </include>
 
   <!-- tilt the head -->
diff --git a/fetch_navigation/launch/freight_nav.launch b/fetch_navigation/launch/freight_nav.launch
index 10237fac..20edd97d 100644
--- a/fetch_navigation/launch/freight_nav.launch
+++ b/fetch_navigation/launch/freight_nav.launch
@@ -11,6 +11,12 @@
   <arg name="move_base_include" default="$(find fetch_navigation)/launch/include/move_base.launch.xml" />
   <arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />
 
+  <!-- set topics -->
+  <arg name="scan_topic" default="base_scan" />
+  <arg name="map_topic" default="map" />
+  <arg name="cmd_vel_topic" default="cmd_vel" />
+  <arg name="odom_topic" default="odom" />
+
   <!-- serve up a map -->
   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
 
@@ -23,12 +29,18 @@
   </group>
 
   <!-- localize the robot -->
-  <include file="$(arg amcl_include)" />
+  <include file="$(arg amcl_include)" >
+    <arg name="scan_topic" value="$(arg scan_topic)" />
+    <arg name="map_topic" value="$(arg map_topic)" />
+  </include>
 
   <!-- move the robot -->
   <include file="$(arg move_base_include)" >
     <arg name="name" value="freight" />
     <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
+    <arg unless="$(arg use_keepout)" name="map_topic" value="$(arg map_topic)" />
+    <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
+    <arg name="odom_topic" value="$(arg odom_topic)" />
   </include>
 
 </launch>