From b9ec1fb3d9583a1bb16cd6719b42b48ff4fe8887 Mon Sep 17 00:00:00 2001
From: zachary <zachary>
Date: Tue, 27 Apr 2021 19:21:19 +0800
Subject: [PATCH] imporve launch

---
 launch/control.launch        | 10 ----------
 launch/control_slider.launch | 10 +++++++---
 launch/mycobot.launch        |  9 +++++----
 3 files changed, 12 insertions(+), 17 deletions(-)
 delete mode 100644 launch/control.launch

diff --git a/launch/control.launch b/launch/control.launch
deleted file mode 100644
index 31bf306..0000000
--- a/launch/control.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
-	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
-		<param name="use_gui" value="true"/>	
-	</node>
-
-</launch>
diff --git a/launch/control_slider.launch b/launch/control_slider.launch
index 6aadc66..9610608 100644
--- a/launch/control_slider.launch
+++ b/launch/control_slider.launch
@@ -1,14 +1,18 @@
 <launch>
 	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
-	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
 		<param name="use_gui" value="true"/>	
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
 	</node>
 
+	<!-- Open control script -->
 	<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/> 
-	
+	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>
diff --git a/launch/mycobot.launch b/launch/mycobot.launch
index ba52b7d..75df517 100644
--- a/launch/mycobot.launch
+++ b/launch/mycobot.launch
@@ -1,10 +1,11 @@
 <launch>
 	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
-	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
-	<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/> 
-	
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>