From 66a6ea2897be36398d4bd233f1b4ae0937117df9 Mon Sep 17 00:00:00 2001
From: Reagan Lopez <reagan.lopez@intel.com>
Date: Wed, 29 Jun 2016 13:53:33 -0700
Subject: [PATCH] Added navigation package changes related to camera package
 refactor

---
 .../launch/r200_nodelet_navigation.launch     | 29 +++++++++++++++++++
 .../navigation/turtlebot/README.md            |  4 +--
 .../robot_description/r200.launch.xml         |  2 +-
 3 files changed, 32 insertions(+), 3 deletions(-)
 create mode 100644 realsense_camera/launch/r200_nodelet_navigation.launch

diff --git a/realsense_camera/launch/r200_nodelet_navigation.launch b/realsense_camera/launch/r200_nodelet_navigation.launch
new file mode 100644
index 0000000000..6414d5e200
--- /dev/null
+++ b/realsense_camera/launch/r200_nodelet_navigation.launch
@@ -0,0 +1,29 @@
+<!-- Launch file used in navigation package -->
+<launch>
+  <arg name="manager"      value="nodelet_manager" />
+  <arg name="camera"       default="camera" />
+  <arg name="camera_type"  default="R200" /> <!-- Type of camera -->
+  <arg name="serial_no"    default="" />
+  <arg name="usb_port_id"  default="" /> <!-- USB "Bus#-Port#" -->
+  <arg name="enable_depth"      default="true" />
+  <arg name="enable_color"      default="true" />
+  <arg name="enable_pointcloud" default="true" />
+  <arg name="enable_tf"         default="true" />
+  <arg name="mode"              default="preset" />
+
+  <param name="$(arg camera)/enable_depth"      type="bool" value="$(arg enable_depth)" />
+  <param name="$(arg camera)/enable_color"      type="bool" value="$(arg enable_color)" />
+  <param name="$(arg camera)/enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
+  <param name="$(arg camera)/enable_tf"         type="bool" value="$(arg enable_tf)" />
+  <param name="$(arg camera)/mode"              type="str"  value="$(arg mode)" />
+
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
+
+  <include file="$(find realsense_camera)/launch/includes/nodelet.launch.xml">
+    <arg name="manager"      value="$(arg manager)" />
+    <arg name="camera"       value="$(arg camera)" />
+    <arg name="camera_type"  value="$(arg camera_type)" />
+    <arg name="serial_no"    value="$(arg serial_no)" />
+    <arg name="usb_port_id"  value="$(arg usb_port_id)" />
+  </include>
+</launch>
diff --git a/realsense_camera/navigation/turtlebot/README.md b/realsense_camera/navigation/turtlebot/README.md
index d44d6c12c7..1ae0a2d50e 100644
--- a/realsense_camera/navigation/turtlebot/README.md
+++ b/realsense_camera/navigation/turtlebot/README.md
@@ -39,13 +39,13 @@ alias setkinect='export TURTLEBOT_3D_SENSOR=kinect && export TURTLEBOT_STACKS=he
 
 ## B - Mapping
 
-The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_navigation.launch`.
+The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera r200_nodelet_navigation.launch`.
 
 So, the normal flow would be :
 
 ```bash
 roslaunch turtlebot_bringup minimal.launch
-roslaunch realsense_camera realsense_r200_navigation.launch
+roslaunch realsense_camera r200_nodelet_navigation.launch
 roslaunch realsense_navigation gmapping.launch
 roslaunch turtlebot_rviz_launchers view_navigation.launch
 ```
diff --git a/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml b/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml
index 1e764e3c03..85814d0d1d 100644
--- a/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml
+++ b/realsense_camera/navigation/turtlebot/robot_description/r200.launch.xml
@@ -31,5 +31,5 @@
   </group>
 
   <!-- Not such a good idea to automatically launch the R200, but the day the firmware bug is corrected this can be useful -->
-  <include if="$(arg launch_camera)" file="$(find realsense_camera)/realsense_r200_nodelet_standalone_preset.launch" />                                                                                 
+  <include if="$(arg launch_camera)" file="$(find realsense_camera)/r200_nodelet_navigation.launch" />
 </launch>