From 9d4a30a11a3fb43e1e684ab8077cda115bfe38eb Mon Sep 17 00:00:00 2001
From: maker-ATOM <aditya@aditya-ubuntu-20.04>
Date: Mon, 12 Feb 2024 15:09:01 +0530
Subject: [PATCH] tf_frame arguments

---
 turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro  | 6 ++++--
 turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro  | 6 ++++--
 .../urdf/turtlebot3_waffle_pi.gazebo.xacro                  | 6 ++++--
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro b/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
index 3e98e941..04050a56 100644
--- a/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
+++ b/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro
@@ -2,6 +2,8 @@
 <robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:arg name="laser_visual" default="false"/>
   <xacro:arg name="imu_visual"   default="false"/>
+  <xacro:arg name="base_footprint_frame"   default="base_footprint"/>
+  <xacro:arg name="odom_frame"   default="odom"/>
 
   <gazebo reference="base_link">
     <material>Gazebo/DarkGrey</material>
@@ -51,10 +53,10 @@
     <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
+      <odometryFrame>$(arg odom_frame)</odometryFrame>
       <odometrySource>world</odometrySource>
       <publishOdomTF>true</publishOdomTF>
-      <robotBaseFrame>base_footprint</robotBaseFrame>
+      <robotBaseFrame>$(arg base_footprint_frame)</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
       <publishWheelJointState>true</publishWheelJointState>
diff --git a/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro b/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro
index f566a38b..64c26613 100644
--- a/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro
+++ b/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro
@@ -3,6 +3,8 @@
   <xacro:arg name="laser_visual"  default="false"/>
   <xacro:arg name="camera_visual" default="false"/>
   <xacro:arg name="imu_visual"    default="false"/>
+  <xacro:arg name="base_footprint_frame"   default="base_footprint"/>
+  <xacro:arg name="odom_frame"   default="odom"/>
 
   <gazebo reference="base_link">
     <material>Gazebo/DarkGrey</material>
@@ -62,10 +64,10 @@
     <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
+      <odometryFrame>$(arg odom_frame)</odometryFrame>
       <odometrySource>world</odometrySource>
       <publishOdomTF>true</publishOdomTF>
-      <robotBaseFrame>base_footprint</robotBaseFrame>
+      <robotBaseFrame>$(arg base_footprint_frame)</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
       <publishWheelJointState>true</publishWheelJointState>
diff --git a/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro b/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro
index e0ed9b81..f5980a71 100644
--- a/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro
+++ b/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro
@@ -3,6 +3,8 @@
   <xacro:arg name="laser_visual"  default="false"/>
   <xacro:arg name="camera_visual" default="false"/>
   <xacro:arg name="imu_visual"    default="false"/>
+  <xacro:arg name="base_footprint_frame"   default="base_footprint"/>
+  <xacro:arg name="odom_frame"   default="odom"/>
 
   <gazebo reference="base_link">
     <material>Gazebo/DarkGrey</material>
@@ -62,10 +64,10 @@
     <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
       <commandTopic>cmd_vel</commandTopic>
       <odometryTopic>odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
+      <odometryFrame>$(arg odom_frame)</odometryFrame>
       <odometrySource>world</odometrySource>
       <publishOdomTF>true</publishOdomTF>
-      <robotBaseFrame>base_footprint</robotBaseFrame>
+      <robotBaseFrame>$(arg base_footprint_frame)</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
       <publishWheelJointState>true</publishWheelJointState>