From 9a01e159574ade56395216eed8a49a8212d59e5f Mon Sep 17 00:00:00 2001
From: ilithebutterfly <iliana.decarufel@gmail.com>
Date: Fri, 21 Jun 2024 17:48:12 +0200
Subject: [PATCH] Cleaned up rove_nav_params.yaml and remapped nav's cmd_vel to
 nav_vel

---
 src/rove_navigation/config/rove_nav_params.yaml |  3 ---
 src/rove_navigation/launch/navigation.launch.py | 16 ++++++++++------
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/rove_navigation/config/rove_nav_params.yaml b/src/rove_navigation/config/rove_nav_params.yaml
index c290fad..319d890 100644
--- a/src/rove_navigation/config/rove_nav_params.yaml
+++ b/src/rove_navigation/config/rove_nav_params.yaml
@@ -224,7 +224,6 @@ global_costmap:
         origin_z: 0.0
         z_resolution: 0.05
         z_voxels: 16
-        max_obstacle_height: 2.0
         unknown_threshold: 15
         mark_threshold: 0
         observation_sources: pointcloud
@@ -268,7 +267,6 @@ local_costmap:
       height: 3
       resolution: 0.05
       robot_radius: 0.22 # radius set and used, so no footprint points
-      resolution: 0.05
       plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
@@ -310,7 +308,6 @@ local_costmap:
         origin_z: 0.0
         z_resolution: 0.05
         z_voxels: 16
-        max_obstacle_height: 2.0
         unknown_threshold: 15
         mark_threshold: 0
         observation_sources: pointcloud
diff --git a/src/rove_navigation/launch/navigation.launch.py b/src/rove_navigation/launch/navigation.launch.py
index 53857fd..fb96800 100644
--- a/src/rove_navigation/launch/navigation.launch.py
+++ b/src/rove_navigation/launch/navigation.launch.py
@@ -2,14 +2,13 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, GroupAction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
-
+from launch_ros.actions import SetRemap
 
 def generate_launch_description():
-
     pkg_rove_navigation = get_package_share_directory('rove_navigation')
 
     navigation_launch_path = PathJoinSubstitution(
@@ -24,9 +23,14 @@ def generate_launch_description():
         launch_arguments={
             'use_sim_time': 'true',
             'params_file': nav2_config_path
-        }.items()
+        }.items(),
     )
-
+    
     return LaunchDescription([
-        nav
+        GroupAction(
+            actions=[
+                SetRemap(src='cmd_vel', dst='nav_vel'),
+                nav,
+            ]
+        )
     ])