From 334b1b3e3e0c9b4c12388ae0fd7b524a153294ce Mon Sep 17 00:00:00 2001
From: Daisuke Sato <daisuke.sato@rt-net.jp>
Date: Thu, 5 Nov 2020 13:28:06 +0900
Subject: [PATCH 1/6] Add xacro option arg to every launch to support lidar
 option

---
 raspimouse_gazebo/launch/raspimouse_with_gasstand.launch     | 3 ++-
 raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch   | 3 ++-
 raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch | 3 ++-
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
index 7061cf1..668f1ba 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
@@ -10,11 +10,12 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
+  <arg name="xacro_option" default="lidar:=none" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/gas_station.world" />
-    <arg name="xacro_option" value="lidar:=urg" />
+    <arg name="xacro_option" value="$(arg xacro_option)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
diff --git a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
index 9a58b5a..3d6d2fe 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
@@ -10,11 +10,12 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
+  <arg name="xacro_option" default="lidar:=none" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/sample_maze.world" />
-    <arg name="xacro_option" value="lidar:=none" />
+    <arg name="xacro_option" value="$(arg xacro_option)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
diff --git a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
index aac24f7..5a4bf3b 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
@@ -10,11 +10,12 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
+  <arg name="xacro_option" default="lidar:=none" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/willowgarage.world" />
-    <arg name="xacro_option" value="lidar:=urg" />
+    <arg name="xacro_option" value="$(arg xacro_option)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />

From 85840baee181eef1add414a43846dfe7b2cc6f9f Mon Sep 17 00:00:00 2001
From: Daisuke Sato <daisuke.sato@rt-net.jp>
Date: Thu, 5 Nov 2020 13:38:42 +0900
Subject: [PATCH 2/6] Fix default value

---
 raspimouse_gazebo/launch/raspimouse_with_gasstand.launch     | 2 +-
 raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
index 668f1ba..0bf1a2e 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
@@ -10,7 +10,7 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
-  <arg name="xacro_option" default="lidar:=none" />
+  <arg name="xacro_option" default="lidar:=urg" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
diff --git a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
index 5a4bf3b..90fcc0e 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
@@ -10,7 +10,7 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
-  <arg name="xacro_option" default="lidar:=none" />
+  <arg name="xacro_option" default="lidar:=urg" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">

From 26c9514ef887de4305f35e3865e2b0a21836f518 Mon Sep 17 00:00:00 2001
From: Daisuke Sato <daisuke.sato@rt-net.jp>
Date: Tue, 21 Sep 2021 19:46:14 +0900
Subject: [PATCH 3/6] Support lidar_frame rename option

---
 .../launch/raspimouse_with_emptyworld.launch          | 11 ++++++++---
 .../launch/raspimouse_with_gasstand.launch            |  5 ++++-
 .../launch/raspimouse_with_samplemaze.launch          |  3 ++-
 .../launch/raspimouse_with_willowgarage.launch        |  5 ++++-
 4 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
index d61809b..6d865bb 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
@@ -9,8 +9,10 @@
   <arg name="debug" default="false" />
   <arg name="use_devfile" default="false" />
   <arg name="world_name" default="$(find raspimouse_gazebo)/worlds/empty.world" />
-  <arg name="xacro_option" default="lidar:=none" />
   <arg name="robot_namespace" default="/" />
+  <arg name="urg" default="false" />
+  <arg name="laser_option" default="laser_visual:=false" />
+  <arg name="lidar_frame" default="laser" />
   
   <!-- Initial position in Gazebo -->
   <arg name="x0" default="0"/>
@@ -36,6 +38,9 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
     respawn="false" output="screen" />
 
+  <arg name="urg_option" value="lidar:='urg'" if="$(arg urg)" />
+  <arg name="urg_option" value="lidar:='none'" unless="$(arg urg)" />
+
   <group if="$(arg use_devfile)">
     <!-- Simulate device file -->
     <include file="$(find raspimouse_fake)/launch/virtual_device_file.launch" />
@@ -45,7 +50,7 @@
                 robot_namespace:='$(arg robot_namespace)'
                 diffdrive_namespace:='$(arg robot_namespace)raspimouse_on_gazebo'
                 sensor_namespace:='raspimouse_on_gazebo'
-                $(arg xacro_option)" />
+                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'" />
   </group>
   <group unless="$(arg use_devfile)">
     <!-- Simulate led distance sensor -->
@@ -56,6 +61,6 @@
                 robot_namespace:='$(arg robot_namespace)'
                 diffdrive_namespace:='$(arg robot_namespace)'
                 sensor_namespace:='raspimouse_on_gazebo'
-                $(arg xacro_option)" />
+                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'" />
   </group>
 </launch>
diff --git a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
index 0bf1a2e..8e0f30e 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
@@ -6,6 +6,8 @@
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
   <arg name="debug" default="false" />
+  <arg name="urg" default="true" />
+  <arg name="lidar_frame" default="laser" />
   <arg name="use_devfile" default="false" />
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
@@ -15,7 +17,8 @@
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/gas_station.world" />
-    <arg name="xacro_option" value="$(arg xacro_option)" />
+    <arg name="urg" value="$(arg urg)" />
+    <arg name="lidar_frame" value="$(arg lidar_frame)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
diff --git a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
index 3d6d2fe..b29d2d9 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
@@ -6,6 +6,7 @@
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
   <arg name="debug" default="false" />
+  <arg name="urg" default="false" />
   <arg name="use_devfile" default="false" />
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
@@ -15,7 +16,7 @@
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/sample_maze.world" />
-    <arg name="xacro_option" value="$(arg xacro_option)" />
+    <arg name="urg" value="$(arg urg)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
diff --git a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
index 90fcc0e..74daa46 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
@@ -6,6 +6,8 @@
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
   <arg name="debug" default="false" />
+  <arg name="urg" default="true" />
+  <arg name="lidar_frame" default="laser" />
   <arg name="use_devfile" default="false" />
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
@@ -15,7 +17,8 @@
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/willowgarage.world" />
-    <arg name="xacro_option" value="$(arg xacro_option)" />
+    <arg name="urg" value="$(arg urg)" />
+    <arg name="lidar_frame" value="$(arg lidar_frame)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />

From b4e9f6f508d24bffcf9c25694e9e4e402fae51ca Mon Sep 17 00:00:00 2001
From: Daisuke Sato <tiryoh@gmail.com>
Date: Wed, 22 Sep 2021 09:33:22 +0900
Subject: [PATCH 4/6] Remove unused arg

---
 raspimouse_gazebo/launch/raspimouse_with_gasstand.launch     | 1 -
 raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch   | 1 -
 raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch | 1 -
 3 files changed, 3 deletions(-)

diff --git a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
index 8e0f30e..0b277f5 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
@@ -12,7 +12,6 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
-  <arg name="xacro_option" default="lidar:=urg" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
diff --git a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
index b29d2d9..dc76506 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
@@ -11,7 +11,6 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
-  <arg name="xacro_option" default="lidar:=none" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
diff --git a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
index 74daa46..cc0835a 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
@@ -12,7 +12,6 @@
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
   <arg name="z0" default="0.01" />
-  <arg name="xacro_option" default="lidar:=urg" />
 
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">

From b6fc30553d21f823d8da851c14fa51b878a5796a Mon Sep 17 00:00:00 2001
From: Daisuke Sato <tiryoh@gmail.com>
Date: Wed, 22 Sep 2021 09:34:29 +0900
Subject: [PATCH 5/6] Add arg for backward compatibility

---
 raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
index 6d865bb..af8996a 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
@@ -13,6 +13,7 @@
   <arg name="urg" default="false" />
   <arg name="laser_option" default="laser_visual:=false" />
   <arg name="lidar_frame" default="laser" />
+  <arg name="xacro_option" default="" />
   
   <!-- Initial position in Gazebo -->
   <arg name="x0" default="0"/>
@@ -50,7 +51,8 @@
                 robot_namespace:='$(arg robot_namespace)'
                 diffdrive_namespace:='$(arg robot_namespace)raspimouse_on_gazebo'
                 sensor_namespace:='raspimouse_on_gazebo'
-                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'" />
+                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
+                $(arg xacro_option)" />
   </group>
   <group unless="$(arg use_devfile)">
     <!-- Simulate led distance sensor -->
@@ -61,6 +63,7 @@
                 robot_namespace:='$(arg robot_namespace)'
                 diffdrive_namespace:='$(arg robot_namespace)'
                 sensor_namespace:='raspimouse_on_gazebo'
-                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'" />
+                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
+                $(arg xacro_option)" />
   </group>
 </launch>

From 16b040183c457c0ba034e1a13a41b3c0d67806db Mon Sep 17 00:00:00 2001
From: Daisuke Sato <daisuke.sato@rt-net.jp>
Date: Wed, 22 Sep 2021 17:40:43 +0900
Subject: [PATCH 6/6] Support camera option

---
 raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
index af8996a..212fdf5 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
@@ -13,6 +13,8 @@
   <arg name="urg" default="false" />
   <arg name="laser_option" default="laser_visual:=false" />
   <arg name="lidar_frame" default="laser" />
+  <arg name="camera" default="false" />
+  <arg name="camera_visual_option" default="camera_visual:=false" />
   <arg name="xacro_option" default="" />
   
   <!-- Initial position in Gazebo -->
@@ -42,6 +44,9 @@
   <arg name="urg_option" value="lidar:='urg'" if="$(arg urg)" />
   <arg name="urg_option" value="lidar:='none'" unless="$(arg urg)" />
 
+  <arg name="camera_option" value="camera:=true" if="$(arg camera)" />
+  <arg name="camera_option" value="camera:=false" unless="$(arg camera)" />
+
   <group if="$(arg use_devfile)">
     <!-- Simulate device file -->
     <include file="$(find raspimouse_fake)/launch/virtual_device_file.launch" />
@@ -52,6 +57,7 @@
                 diffdrive_namespace:='$(arg robot_namespace)raspimouse_on_gazebo'
                 sensor_namespace:='raspimouse_on_gazebo'
                 $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
+                $(arg camera_option) $(arg camera_visual_option)
                 $(arg xacro_option)" />
   </group>
   <group unless="$(arg use_devfile)">
@@ -64,6 +70,7 @@
                 diffdrive_namespace:='$(arg robot_namespace)'
                 sensor_namespace:='raspimouse_on_gazebo'
                 $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
+                $(arg camera_option) $(arg camera_visual_option)
                 $(arg xacro_option)" />
   </group>
 </launch>