resovled conflicts

scout_gazebo_sim/CMakeLists.txt

@@ -39,7 +39,7 @@ target_link_libraries(scout_skid_steer_controller scout_gazebo ${catkin_LIBRARIE
 ## Install ##
 #############
 
-roslaunch_add_file_check(launch)
+# roslaunch_add_file_check(launch)
 
 install(
   DIRECTORY launch worlds

scout_gazebo_sim/launch/scout_empty_world.launch

@@ -1,5 +1,4 @@
 <launch>
-
     <arg name="robot_namespace" default="/"/>
     <arg name="world_name" default="$(find scout_gazebo_sim)worlds/weston_robot_empty.world"/>
 
@@ -12,7 +11,8 @@
         <arg name="debug" value="false"/>
     </include>
 
-    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
-        
+    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_base.launch"></include>
+    <include file="$(find scout_base)/launch/scout_base_sim.launch" />
+
     <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/navigation.rviz" />
 </launch>

scout_gazebo_sim/launch/scout_playpen.launch

@@ -37,7 +37,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
         <arg name="debug" value="false"/>
     </include>
 
-    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
-        
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
+    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_sensors.launch"></include>
+    <include file="$(find scout_base)/launch/scout_base_sim.launch" />
+
+    <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" /> -->
 </launch>

scout_gazebo_sim/launch/spawn_scout_v2_base.launch

@@ -5,7 +5,7 @@
     <arg name="z" default="0.0"/>
     <arg name="yaw" default="0.0"/>
 
-    <arg name="robot_namespace" default="/"/>
+    <arg name="robot_namespace" default=""/>
 
     <!-- these are the arguments you can pass this launch file, for example paused:=true -->
     <arg name="paused" default="true" />

scout_gazebo_sim/launch/spawn_scout_v2_sensors.launch

@@ -0,0 +1,40 @@
+<launch>
+    <!-- initial pose -->
+    <arg name="x" default="0.0"/>
+    <arg name="y" default="0.0"/>
+    <arg name="z" default="0.0"/>
+    <arg name="yaw" default="0.0"/>
+
+    <arg name="robot_namespace" default=""/>
+
+    <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+    <arg name="paused" default="true" />
+    <arg name="use_sim_time" default="true" />
+    <arg name="gui" default="true" />
+    <arg name="headless" default="false" />
+    <arg name="debug" default="true" />
+
+    <include file="$(find scout_description)/launch/scout_v2_sensors.launch">
+        <arg name="robot_namespace" value="$(arg robot_namespace)" />
+    </include>
+
+    <node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
+              -y $(arg y)
+              -z $(arg z)
+              -Y $(arg yaw)
+              -unpause
+              -urdf
+              -param robot_description
+              -model 'scout$(arg robot_namespace)'" />
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
+        <param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
+    </node>
+</launch> 

scout_gazebo_sim/src/scout_skid_steer_controller.cpp

@@ -11,7 +11,7 @@ using namespace westonrobot;
 
 int main(int argc, char **argv) {
   // setup ROS node
-  ros::init(argc, argv, "scout_odom");
+  ros::init(argc, argv, "scout_skid_steer");
   ros::NodeHandle node(""), private_node("~");
 
   // fetch parameters