<commit_before><?xml version="1.0"?>
<launch>
  <!-- skid, omni, steel_skid, steel_omni, diffdrive,x_omni -->
  <!-- diffdrive has been tested only in simulation -->
  <arg name="kinematics" default="$(optenv ROBOT_KINEMATICS skid)"/>
  <arg name="wheel_diameter" default="$(optenv ROBOT_WHEEL_DIAMETER 0.22)"/>
  <arg name="ros_planar_move_plugin" default="false"/>
  <arg name="sim" default="false"/>
  <arg name="cmd_vel" default="robotnik_base_control/cmd_vel"/>
  <arg name="prefix" default="summit_xl_"/>
  <arg name="launch_robot_localization" default="false"/>
  <arg name="has_safety_module" default="false"/>

  <!-- Robot - Load joint controller configurations from YAML file to parameter server -->
  <group unless="$(arg sim)">
	  <rosparam file="$(find summit_xl_control)/config/summit_xl_$(arg kinematics)_control.yaml" command="load"/>
	  <param name="robotnik_base_control/joint/back_left_wheel_joint/name" value="$(arg prefix)back_left_wheel_joint"/>
	  <param name="robotnik_base_control/joint/back_right_wheel_joint/name" value="$(arg prefix)back_right_wheel_joint"/>
	  <param name="robotnik_base_control/joint/front_right_wheel_joint/name" value="$(arg prefix)front_right_wheel_joint"/>
	  <param name="robotnik_base_control/joint/front_left_wheel_joint/name" value="$(arg prefix)front_left_wheel_joint"/>
	  <param if="$(eval kinematics == 'x_omni')" name="robotnik_base_control/joint/aux_upper_base_joint/name" value="$(arg prefix)aux_upper_base_joint"/>
		<param if="$(eval kinematics == 'x_omni')" name="robotnik_base_control/joint/upper_base_joint/name" value="$(arg prefix)upper_base_joint"/>
	  <param name="robotnik_base_control/odom_frame" value="$(arg prefix)odom"/>
	  <param name="robotnik_base_control/robot_base_frame" value="$(arg prefix)base_footprint"/>
	  <param name="robotnik_base_control/wheel_diameter" value="$(arg wheel_diameter)"/>

	  <!-- load the controllers -->
	  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
		output="screen" args="
		  robotnik_base_control
		  joint_read_state_controller
		  ">
	  </node>

  </group>
    <!-- Simulation - Load joint controller configurations from YAML file to parameter server -->
  <group if="$(arg sim)">
	  <rosparam file="$(find summit_xl_control)/config/$(arg prefix)control.yaml" command="load"/>

	  <!-- if robot_localization node is launched the controller must not publish the odom tf-->
	  <param if="$(arg launch_robot_localization)" name="robotnik_base_control/enable_odom_tf" value="false"/>

	   <!-- load the planar ros controllers by urdf -->
	  <node if="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
		output="screen" args="
		  joint_read_state_controller
		  ">
	  </node>
	  <!-- load the diff ros controllers -->
	  <node unless="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
		output="screen" args="
		  robotnik_base_control
		  joint_read_state_controller
      joint_pan_position_controller
      joint_tilt_position_controller
		  ">
	  </node>

  </group>


  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find summit_xl_control)/config/twist_mux.yaml" />
    <remap if="$(arg has_safety_module)" from="cmd_vel_out" to="twist_mux/cmd_vel" />
    <remap unless="$(arg has_safety_module)" from="cmd_vel_out" to="$(arg cmd_vel)" />
  </node>
  <node pkg="twist_mux" type="twist_marker" name="twist_marker">
    <remap from="twist"  to="$(arg cmd_vel)"/>
    <remap from="marker" to="twist_marker"/>
  </node>


</launch><commit_msg>summit_xl_control: delete remap safety cmd_vel<commit_after><?xml version="1.0"?>
<launch>
  <!-- skid, omni, steel_skid, steel_omni, diffdrive,x_omni -->
  <!-- diffdrive has been tested only in simulation -->
  <arg name="kinematics" default="$(optenv ROBOT_KINEMATICS skid)"/>
  <arg name="wheel_diameter" default="$(optenv ROBOT_WHEEL_DIAMETER 0.22)"/>
  <arg name="ros_planar_move_plugin" default="false"/>
  <arg name="sim" default="false"/>
  <arg name="cmd_vel" default="robotnik_base_control/cmd_vel"/>
  <arg name="prefix" default="summit_xl_"/>
  <arg name="launch_robot_localization" default="false"/>
  <arg name="has_safety_module" default="false"/>

  <!-- Robot - Load joint controller configurations from YAML file to parameter server -->
  <group unless="$(arg sim)">
	  <rosparam file="$(find summit_xl_control)/config/summit_xl_$(arg kinematics)_control.yaml" command="load"/>
	  <param name="robotnik_base_control/joint/back_left_wheel_joint/name" value="$(arg prefix)back_left_wheel_joint"/>
	  <param name="robotnik_base_control/joint/back_right_wheel_joint/name" value="$(arg prefix)back_right_wheel_joint"/>
	  <param name="robotnik_base_control/joint/front_right_wheel_joint/name" value="$(arg prefix)front_right_wheel_joint"/>
	  <param name="robotnik_base_control/joint/front_left_wheel_joint/name" value="$(arg prefix)front_left_wheel_joint"/>
	  <param if="$(eval kinematics == 'x_omni')" name="robotnik_base_control/joint/aux_upper_base_joint/name" value="$(arg prefix)aux_upper_base_joint"/>
		<param if="$(eval kinematics == 'x_omni')" name="robotnik_base_control/joint/upper_base_joint/name" value="$(arg prefix)upper_base_joint"/>
	  <param name="robotnik_base_control/odom_frame" value="$(arg prefix)odom"/>
	  <param name="robotnik_base_control/robot_base_frame" value="$(arg prefix)base_footprint"/>
	  <param name="robotnik_base_control/wheel_diameter" value="$(arg wheel_diameter)"/>
	  <!-- load the controllers -->
	  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
		output="screen" args="
		  robotnik_base_control
		  joint_read_state_controller
		  ">
	  </node>

  </group>
    <!-- Simulation - Load joint controller configurations from YAML file to parameter server -->
  <group if="$(arg sim)">
	  <rosparam file="$(find summit_xl_control)/config/$(arg prefix)control.yaml" command="load"/>

	  <!-- if robot_localization node is launched the controller must not publish the odom tf-->
	  <param if="$(arg launch_robot_localization)" name="robotnik_base_control/enable_odom_tf" value="false"/>

	   <!-- load the planar ros controllers by urdf -->
	  <node if="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
		output="screen" args="
		  joint_read_state_controller
		  ">
	  </node>
	  <!-- load the diff ros controllers -->
	  <node unless="$(arg ros_planar_move_plugin)" name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
		output="screen" args="
		  robotnik_base_control
		  joint_read_state_controller
      joint_pan_position_controller
      joint_tilt_position_controller
		  ">
	  </node>

  </group>


  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
    <rosparam command="load" file="$(find summit_xl_control)/config/twist_mux.yaml" />
    <remap from="cmd_vel_out" to="$(arg cmd_vel)" />
  </node>
  <node pkg="twist_mux" type="twist_marker" name="twist_marker">
    <remap from="twist"  to="$(arg cmd_vel)"/>
    <remap from="marker" to="twist_marker"/>
  </node>


</launch>
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