From 71bd7eab2096936328205a401072c8edb0dba337 Mon Sep 17 00:00:00 2001
From: Pin Loon Lee <pinloon.lee@westonrobot.com>
Date: Thu, 21 Oct 2021 16:18:24 +0800
Subject: [PATCH] scout_bringup: launch: cleanup launch file and add scout_mini

---
 .../launch/scout_mini_minimal.launch          | 22 ++++++++++++++++++
 .../launch/scout_mini_omni_minimal.launch     | 23 +++++++++++++++++++
 scout_bringup/launch/scout_minimal.launch     |  4 ++++
 3 files changed, 49 insertions(+)
 create mode 100644 scout_bringup/launch/scout_mini_minimal.launch
 create mode 100644 scout_bringup/launch/scout_mini_omni_minimal.launch

diff --git a/scout_bringup/launch/scout_mini_minimal.launch b/scout_bringup/launch/scout_mini_minimal.launch
new file mode 100644
index 0000000..418634d
--- /dev/null
+++ b/scout_bringup/launch/scout_mini_minimal.launch
@@ -0,0 +1,22 @@
+<launch>
+
+    <arg name="port_name" value="can0" />
+    <arg name="is_scout_mini" default="true" />
+    <arg name="is_omni_wheel" default="false" />
+    <arg name="simulated_robot" value="false" />
+    <arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
+    <arg name="odom_topic_name" default="odom" />
+
+    <include file="$(find scout_base)/launch/scout_mini_base.launch">
+        <arg name="port_name" default="$(arg port_name)" />
+        <arg name="is_scout_mini" default="$(arg is_scout_mini)" />
+        <arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
+        <arg name="simulated_robot" default="$(arg simulated_robot)" />
+        <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
+    </include>
+
+    <include file="$(find scout_description)/launch/description.launch">
+        <arg name="model_xacro" default="$(arg model_xacro)" />
+    </include>
+
+</launch>
\ No newline at end of file
diff --git a/scout_bringup/launch/scout_mini_omni_minimal.launch b/scout_bringup/launch/scout_mini_omni_minimal.launch
new file mode 100644
index 0000000..6bb83f9
--- /dev/null
+++ b/scout_bringup/launch/scout_mini_omni_minimal.launch
@@ -0,0 +1,23 @@
+<launch>
+
+    <arg name="port_name" value="can0" />
+    <arg name="is_scout_mini" default="true" />
+    <arg name="is_omni_wheel" default="true" />
+    <arg name="simulated_robot" value="false" />
+    <arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
+    <!-- <arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_omni_v2.xacro" /> -->
+    <arg name="odom_topic_name" default="odom" />
+
+    <include file="$(find scout_base)/launch/scout_mini_omni_base.launch">
+        <arg name="port_name" default="$(arg port_name)" />
+        <arg name="is_scout_mini" default="$(arg is_scout_mini)" />
+        <arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
+        <arg name="simulated_robot" default="$(arg simulated_robot)" />
+        <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
+    </include>
+
+    <include file="$(find scout_description)/launch/description.launch">
+        <arg name="model_xacro" default="$(arg model_xacro)" />
+    </include>
+
+</launch>
\ No newline at end of file
diff --git a/scout_bringup/launch/scout_minimal.launch b/scout_bringup/launch/scout_minimal.launch
index 21e21a4..bd81075 100644
--- a/scout_bringup/launch/scout_minimal.launch
+++ b/scout_bringup/launch/scout_minimal.launch
@@ -1,12 +1,16 @@
 <launch>
 
     <arg name="port_name" value="can0" />
+    <arg name="is_scout_mini" default="false" />
+    <arg name="is_omni_wheel" default="false" />
     <arg name="simulated_robot" value="false" />
     <arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
     <arg name="odom_topic_name" default="odom" />
 
     <include file="$(find scout_base)/launch/scout_base.launch">
         <arg name="port_name" default="$(arg port_name)" />
+        <arg name="is_scout_mini" default="$(arg is_scout_mini)" />
+        <arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
         <arg name="simulated_robot" default="$(arg simulated_robot)" />
         <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
     </include>