From 08d70accca0285d67615a717cc87ac56ae141ed3 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 11 Feb 2020 20:35:32 +0900
Subject: [PATCH 1/4] add topic args to navigation launch files

---
 fetch_navigation/launch/fetch_nav.launch   | 15 ++++++++++++++-
 fetch_navigation/launch/freight_nav.launch | 14 +++++++++++++-
 2 files changed, 27 insertions(+), 2 deletions(-)

diff --git a/fetch_navigation/launch/fetch_nav.launch b/fetch_navigation/launch/fetch_nav.launch
index c107f1af..0b3d7b8f 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 +29,19 @@
   </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 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..6bd84679 100644
--- a/fetch_navigation/launch/freight_nav.launch
+++ b/fetch_navigation/launch/freight_nav.launch
@@ -11,6 +11,11 @@
   <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 for move_base -->
+  <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 +28,19 @@
   </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 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>

From 5b6aae8e753ab26771610dff89ae6c0ff9ee5f2c Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Tue, 11 Feb 2020 21:04:25 +0900
Subject: [PATCH 2/4] fixed map_topic bugs

---
 fetch_navigation/launch/fetch_nav.launch   | 3 +--
 fetch_navigation/launch/freight_nav.launch | 3 +--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/fetch_navigation/launch/fetch_nav.launch b/fetch_navigation/launch/fetch_nav.launch
index 0b3d7b8f..3f6f1b1f 100644
--- a/fetch_navigation/launch/fetch_nav.launch
+++ b/fetch_navigation/launch/fetch_nav.launch
@@ -38,8 +38,7 @@
   <include file="$(arg move_base_include)" >
     <arg name="name" value="fetch" />
     <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
-
-    <arg name="map_topic" value="$(arg map_topic)" />
+    <arg unless="$(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="$(arg odom_topic)" />
   </include>
diff --git a/fetch_navigation/launch/freight_nav.launch b/fetch_navigation/launch/freight_nav.launch
index 6bd84679..74c13a7c 100644
--- a/fetch_navigation/launch/freight_nav.launch
+++ b/fetch_navigation/launch/freight_nav.launch
@@ -37,8 +37,7 @@
   <include file="$(arg move_base_include)" >
     <arg name="name" value="freight" />
     <arg if="$(arg use_keepout)" name="map_topic" value="map_keepout" />
-
-    <arg name="map_topic" value="$(arg map_topic)" />
+    <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>

From d08fe718b6cd1816aa54cbd91b7651d714334a42 Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Fri, 21 Feb 2020 18:24:44 +0900
Subject: [PATCH 3/4] fixed scan_topic bug

---
 fetch_navigation/launch/freight_nav.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/fetch_navigation/launch/freight_nav.launch b/fetch_navigation/launch/freight_nav.launch
index 74c13a7c..fde44d4c 100644
--- a/fetch_navigation/launch/freight_nav.launch
+++ b/fetch_navigation/launch/freight_nav.launch
@@ -11,7 +11,8 @@
   <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 for move_base -->
+  <!-- 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" />

From fee4bd42d1af38285fe0ba6834ad41efc908d82f Mon Sep 17 00:00:00 2001
From: Koki Shinjo <sktometometo@gmail.com>
Date: Sat, 22 Feb 2020 13:21:47 +0900
Subject: [PATCH 4/4] remove tabs

---
 fetch_navigation/launch/fetch_nav.launch   | 2 +-
 fetch_navigation/launch/freight_nav.launch | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fetch_navigation/launch/fetch_nav.launch b/fetch_navigation/launch/fetch_nav.launch
index 3f6f1b1f..b05b149a 100644
--- a/fetch_navigation/launch/fetch_nav.launch
+++ b/fetch_navigation/launch/fetch_nav.launch
@@ -12,7 +12,7 @@
   <arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />
 
   <!-- set topics -->
-  <arg name="scan_topic"     default="base_scan" />
+  <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" />
diff --git a/fetch_navigation/launch/freight_nav.launch b/fetch_navigation/launch/freight_nav.launch
index fde44d4c..20edd97d 100644
--- a/fetch_navigation/launch/freight_nav.launch
+++ b/fetch_navigation/launch/freight_nav.launch
@@ -12,7 +12,7 @@
   <arg name="amcl_include" default="$(find fetch_navigation)/launch/include/amcl.launch.xml" />
 
   <!-- set topics -->
-  <arg name="scan_topic"     default="base_scan" />
+  <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" />