From 194ca5a1f250a1df588cce389d000e92b0820058 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Mon, 21 Dec 2020 11:50:23 +0800
Subject: [PATCH] fixing ci

---
 .gitlab-ci.yml                           | 12 +++++------
 scout_base/launch/scout_mini_base.launch | 26 ++++++++++++++++++++++++
 2 files changed, 32 insertions(+), 6 deletions(-)
 create mode 100644 scout_base/launch/scout_mini_base.launch

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 328a9a0..5cfb9a9 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -6,7 +6,7 @@ kinetic-catkin-build:
     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
@@ -17,7 +17,7 @@ kinetic-catkin-isolated-build:
     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
 
@@ -28,7 +28,7 @@ melodic-catkin-build:
     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
@@ -39,7 +39,7 @@ melodic-catkin-isolated-build:
     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
 
@@ -50,7 +50,7 @@ noetic-catkin-build:
     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
@@ -61,6 +61,6 @@ noetic-catkin-isolated-build:
     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cd /catkin_ws/src && git clone --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
\ No newline at end of file
diff --git a/scout_base/launch/scout_mini_base.launch b/scout_base/launch/scout_mini_base.launch
new file mode 100644
index 0000000..76fa2d7
--- /dev/null
+++ b/scout_base/launch/scout_mini_base.launch
@@ -0,0 +1,26 @@
+<launch>
+    <!-- 
+        The robot can be controlled either through CAN bus or UART port. Make sure the hardware
+        interface is set up correctly before attempting to connect to the robot.
+        
+        You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should 
+        operate with the following configuration:
+        
+        * CAN bus: 500k
+        * UART: 115200, Parity None, 8-bit Data, 1 Stop Bit 
+    -->
+    <arg name="port_name" default="can0" />
+    <arg name="is_scout_mini" default="true" />
+    <arg name="simulated_robot" default="false" />
+    <arg name="odom_topic_name" default="odom" />
+
+    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
+        <param name="is_scout_mini" type="bool" value="$(arg is_scout_mini)" />
+        <param name="port_name" type="string" value="$(arg port_name)" />
+        <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
+        <param name="odom_frame" type="string" value="odom" />
+        <param name="base_frame" type="string" value="base_link" />
+        <param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />
+    </node>
+
+</launch>