From 4dd7693392ab9e3f3c47648d476db614df0ccd0f Mon Sep 17 00:00:00 2001
From: Tan Pin Da <tan.pin.da.1996@gmail.com>
Date: Mon, 7 Sep 2020 13:56:32 +0800
Subject: [PATCH] able to select xacro_file and odom_topic_name from
 scout_minimal

---
 scout_bringup/launch/scout_minimal.launch      | 10 ++++++++--
 scout_bringup/launch/scout_minimal_uart.launch | 11 +++++++++--
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/scout_bringup/launch/scout_minimal.launch b/scout_bringup/launch/scout_minimal.launch
index 22c94b2..7b78073 100644
--- a/scout_bringup/launch/scout_minimal.launch
+++ b/scout_bringup/launch/scout_minimal.launch
@@ -1,6 +1,12 @@
 <launch>
+    <arg name="port_name" default="can0" />
+    <arg name="simulated_robot" default="false" />
+    <arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
+    <arg name ="odom_topic_name" default = "odomsdas"/>
     <include file="$(find scout_base)/launch/scout_base.launch" >
-        <arg name="port_name" default="can0" />
-        <arg name="simulated_robot" default="false" />
+        <arg name="port_name" default="$(arg port_name)" />
+        <arg name="simulated_robot" default="$(arg simulated_robot)" />
+        <arg name = "model_xacro" default = "$(arg model_xacro)" />
+        <arg name ="odom_topic_name" default = "$(arg odom_topic_name)"/>
     </include>
 </launch>
\ No newline at end of file
diff --git a/scout_bringup/launch/scout_minimal_uart.launch b/scout_bringup/launch/scout_minimal_uart.launch
index c1e46cb..88ec452 100644
--- a/scout_bringup/launch/scout_minimal_uart.launch
+++ b/scout_bringup/launch/scout_minimal_uart.launch
@@ -1,6 +1,13 @@
+
 <launch>
+    <arg name="port_name" value="/dev/ttyUSB0" />
+    <arg name="simulated_robot" value="false" />
+    <arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
+    <arg name ="odom_topic_name" default = "odomsdas"/>
     <include file="$(find scout_base)/launch/scout_base.launch" >
-        <arg name="port_name" value="/dev/ttyUSB0" />
-        <arg name="simulated_robot" value="false" />
+        <arg name="port_name" default="$(arg port_name)" />
+        <arg name="simulated_robot" default="$(arg simulated_robot)" />
+        <arg name = "model_xacro" default = "$(arg model_xacro)" />
+        <arg name ="odom_topic_name" default = "$(arg odom_topic_name)"/>
     </include>
 </launch>
\ No newline at end of file