From f84052643188676f24fc02ec80c0c503d50ff997 Mon Sep 17 00:00:00 2001
From: wangzheqie <wangzheqie@qq.com>
Date: Fri, 23 Apr 2021 16:45:06 +0800
Subject: [PATCH] change launch file content

---
 ranger_base/launch/ranger_mini_base.launch  | 16 ++++++++--------
 ranger_bringup/launch/ranger_minimal.launch |  9 +++++----
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/ranger_base/launch/ranger_mini_base.launch b/ranger_base/launch/ranger_mini_base.launch
index bcb2d79..b76dbd8 100644
--- a/ranger_base/launch/ranger_mini_base.launch
+++ b/ranger_base/launch/ranger_mini_base.launch
@@ -1,22 +1,22 @@
 <launch>
-    <args name="port_name" default="can0"/>
-    <args name="is_ranger_mini" default="true"/>
-    <args name="simulated_robot" default="false"/>
-    <args name="odom_topic_name" default="odom"/>
+    <arg name="port_name" default="can0"/>
+    <arg name="is_ranger_mini" default="true"/>
+    <arg name="simulated_robot" default="false"/>
+    <arg name="odom_topic_name" default="odom"/>
 
     <node name="ranger_base_node" pkg="ranger_base" type="ranger_base_node" output="screen">
-<!--        <param name="is_ranger_mini" type="bool" value="$(arg is_ranger_mini)" /
+        <param name="is_ranger_mini" type="bool" value="$(arg is_ranger_mini)" />
         <param name="port_name" type="string" value="$(arg port_name)" />
         <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
         <param name="odom_frame" type="string" value="odom" />
         <param name="base_frame" type="string" value="base_link" />
-        <param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />   -->
+        <param name="odom_topic_name" type="string" value="$(arg odom_topic_name)" />  
 
-        <param name="is_ranger_mini" type="bool" value="true" />
+        <!-- <param name="is_ranger_mini" type="bool" value="true" />
         <param name="port_name" type="string" value="can0" />
         <param name="simulated_robot" type="bool" value="false" />
         <param name="odom_frame" type="string" value="odom" />
         <param name="base_frame" type="string" value="base_link" />
-        <param name="odom_topic_name" type="string" value="odom" />
+        <param name="odom_topic_name" type="string" value="odom" /> -->
     </node>
 </launch>
diff --git a/ranger_bringup/launch/ranger_minimal.launch b/ranger_bringup/launch/ranger_minimal.launch
index b6d3c44..13443fd 100644
--- a/ranger_bringup/launch/ranger_minimal.launch
+++ b/ranger_bringup/launch/ranger_minimal.launch
@@ -2,17 +2,18 @@
 
     <arg name="port_name" value="can0" />
     <arg name="simulated_robot" value="false" />
-    <arg name="model_xacro" default="$(find ranger_description)/urdf/ranger_v2.xacro" />
+    <arg name="is_ranger_mini" value="true" />
+    <!-- <arg name="model_xacro" default="$(find ranger_description)/urdf/ranger_v2.xacro" /> -->
     <arg name="odom_topic_name" default="odom" />
 
-    <include file="$(find ranger_base)/launch/ranger_base.launch">
+    <include file="$(find ranger_base)/launch/ranger_mini_base.launch">
         <arg name="port_name" default="$(arg port_name)" />
         <arg name="simulated_robot" default="$(arg simulated_robot)" />
         <arg name="odom_topic_name" default="$(arg odom_topic_name)" />
     </include>
 
-    <include file="$(find ranger_description)/launch/description.launch">
+    <!-- <include file="$(find ranger_description)/launch/description.launch">
         <arg name="model_xacro" default="$(arg model_xacro)" />
-    </include>
+    </include> -->
 
 </launch>
\ No newline at end of file