From 2ebde42e5ebe23c1e096d271401916492ce6b139 Mon Sep 17 00:00:00 2001
From: Luz Martinez <lmartine@hpc.cl>
Date: Thu, 27 Jul 2017 19:39:30 +0900
Subject: [PATCH] fake localization for maqui

---
 launch/localization/odometry.launch.xml |  8 +++++++-
 params/localization/fake.yaml           | 24 ++++++++++++++++++++++++
 2 files changed, 31 insertions(+), 1 deletion(-)
 create mode 100644 params/localization/fake.yaml

diff --git a/launch/localization/odometry.launch.xml b/launch/localization/odometry.launch.xml
index 6733325..5f42fc0 100644
--- a/launch/localization/odometry.launch.xml
+++ b/launch/localization/odometry.launch.xml
@@ -11,6 +11,12 @@
     <include file="$(find uchile_maps)/launch/map_analyzer.launch"/>
 
     <!-- fake localization -->
-    <node pkg="tf" type="static_transform_publisher" name="tf_fake_localization" args="0 0 0 0 0 0 /map /odom 20" />
+    <node pkg="fake_localization" type="fake_localization" name="fake_localization" ns="/maqui/nav/">
+        <remap from="base_pose_ground_truth" to="/maqui/nav/odom"/>
+        <remap from="initialpose"            to="/maqui/nav/initialpose"/>
+        <remap from="amcl_pose"              to="/maqui/nav/amcl_pose"/>
+        <remap from="particlecloud"          to="/maqui/nav/particlecloud"/>
+        <rosparam file="$(find maqui_bringup)/params/localization/fake.yaml" command="load"/> 
+    </node>
 
 </launch>
diff --git a/params/localization/fake.yaml b/params/localization/fake.yaml
new file mode 100644
index 0000000..a8eadaa
--- /dev/null
+++ b/params/localization/fake.yaml
@@ -0,0 +1,24 @@
+
+# delta_x (double, default: 0.0)
+# The x offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization. 
+delta_x: 0
+
+# delta_y (double, default: 0.0)
+# The y offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization. 
+delta_y: 0
+
+# delta_yaw (double, default: 0.0)
+# The yaw offset between the origin of the simulator coordinate frame and the map coordinate frame published by fake_localization. 
+delta_yaw: 0
+
+# global_frame_id (string, default: /map)
+# The frame in which to publish the global_frame_id→odom_frame_id transform over tf. New in 1.1.3 
+global_frame_id: "/map"
+
+# odom_frame_id (string, default: "odom")
+# The name of the odometric frame of the robot. 
+odom_frame_id: "/odom"
+
+# base_frame_id (string, default: base_link)
+# The base frame of the robot. New in 1.1.3
+base_frame_id: "/base_footprint"