From 35375d82bdefaa0161ba45d931dae3db4b3b187c Mon Sep 17 00:00:00 2001
From: jlurgo <jlurgo@savioke.com>
Date: Wed, 6 Nov 2019 17:43:47 -0300
Subject: [PATCH] Changed launchfile name and robot positions

---
 .../launch/create_cooperative_two_rooms.launch      | 13 +++++++++++++
 ca_gazebo/launch/create_empty_world.launch          |  4 ++--
 ca_gazebo/launch/ekuthon_coop_robots.launch         | 13 -------------
 3 files changed, 15 insertions(+), 15 deletions(-)
 create mode 100644 ca_gazebo/launch/create_cooperative_two_rooms.launch
 delete mode 100644 ca_gazebo/launch/ekuthon_coop_robots.launch

diff --git a/ca_gazebo/launch/create_cooperative_two_rooms.launch b/ca_gazebo/launch/create_cooperative_two_rooms.launch
new file mode 100644
index 000000000..ec0df62c2
--- /dev/null
+++ b/ca_gazebo/launch/create_cooperative_two_rooms.launch
@@ -0,0 +1,13 @@
+<launch>
+  <param name="create1/amcl/initial_pose_x" value="-1"/>
+  <param name="create1/amcl/initial_pose_y" value="1"/>
+  <param name="create1/amcl/initial_pose_a" value="0"/>
+
+  <param name="create2/amcl/initial_pose_x" value="1"/>
+  <param name="create2/amcl/initial_pose_y" value="1"/>
+  <param name="create2/amcl/initial_pose_a" value="3.1416"/>
+
+  <include file="$(find ca_gazebo)/launch/create_empty_world.launch">
+    <arg name="env" value="two_rooms"/>
+  </include>
+</launch>
diff --git a/ca_gazebo/launch/create_empty_world.launch b/ca_gazebo/launch/create_empty_world.launch
index e9a05ecf2..6e2eafb79 100644
--- a/ca_gazebo/launch/create_empty_world.launch
+++ b/ca_gazebo/launch/create_empty_world.launch
@@ -1,11 +1,11 @@
 <launch>
 	<arg name="env" default="empty"/>
+	<arg name="localization" default="$(optenv LOCALIZATION none)"/>
+
 	<arg name="paused" value="$(optenv PAUSED false)"/>
 	<arg name="gui" value="$(optenv GUI true)"/>
 	<arg name="debug" value="$(optenv DEBUG false)"/>
 
-  <arg name="localization" default="$(optenv LOCALIZATION none)"/>
-
 	<!-- Launch Gazebo world -->
 	<include file="$(find gazebo_ros)/launch/empty_world.launch">
 		<arg name="debug" value="$(arg debug)" />
diff --git a/ca_gazebo/launch/ekuthon_coop_robots.launch b/ca_gazebo/launch/ekuthon_coop_robots.launch
deleted file mode 100644
index 813a87b47..000000000
--- a/ca_gazebo/launch/ekuthon_coop_robots.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-  <param name="create1/amcl/initial_pose_x" value="0.29"/>
-  <param name="create1/amcl/initial_pose_y" value="0.20"/>
-  <param name="create1/amcl/initial_pose_a" value="-1.57"/>
-
-  <param name="create2/amcl/initial_pose_x" value="0.29"/>
-  <param name="create2/amcl/initial_pose_y" value="0.55"/>
-  <param name="create2/amcl/initial_pose_a" value="-1.57"/>
-
-  <include file="$(find ca_gazebo)/launch/create_empty_world.launch">
-    <arg name="env" value="two_rooms"/>
-  </include>
-</launch>