From 4d41485c4718d7fa53d1b23b54e5fe447bdd2a99 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Wed, 5 Jul 2023 11:36:16 +0200
Subject: [PATCH] working turtlebot3 sim

---
 src/dcaitirobot/dcaitirobot/twist.py          |  8 +++-
 .../launch/remote_control_launch.py           | 27 +++++++-----
 .../launch/start_turtle_slam_sim.py           | 44 +++++++++++++++++++
 3 files changed, 65 insertions(+), 14 deletions(-)
 create mode 100644 src/dcaitirobot/launch/start_turtle_slam_sim.py

diff --git a/src/dcaitirobot/dcaitirobot/twist.py b/src/dcaitirobot/dcaitirobot/twist.py
index fab6d26..5cbcbbb 100644
--- a/src/dcaitirobot/dcaitirobot/twist.py
+++ b/src/dcaitirobot/dcaitirobot/twist.py
@@ -41,6 +41,9 @@ class TwistPublisher(Node):
         self.publisher_ = self.create_publisher(
             Twist, "/diff_cont/cmd_vel_unstamped", 1
         )
+
+        self.publisher_2 = self.create_publisher(Twist, "/cmd_vel", 1)
+
         self.create_subscription(Joy, "/joy", self.joy_callback, 1)
         self.timer = self.create_timer(1 / publish_frequency_hz, self.timer_callback)
 
@@ -67,9 +70,10 @@ class TwistPublisher(Node):
         self.update_smooth_window()
         self.calc_smooth_speed()
 
-        msg.linear.x = self.linear
-        msg.angular.z = self.angular
+        msg.linear.x = self.linear_out
+        msg.angular.z = self.angular_out
         self.publisher_.publish(msg)
+        self.publisher_2.publish(msg)
         self.get_logger().info(
             "Linear_window: {}, Linear_out: {}, Angular_window: {}, Angular_out: {}".format(
                 self.linear_window,
diff --git a/src/dcaitirobot/launch/remote_control_launch.py b/src/dcaitirobot/launch/remote_control_launch.py
index 193078a..6a5af93 100644
--- a/src/dcaitirobot/launch/remote_control_launch.py
+++ b/src/dcaitirobot/launch/remote_control_launch.py
@@ -1,16 +1,19 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='dcaitirobot',
-            executable='joy',
-            name='joystick',
-        ),
-        Node(
-            package='dcaitirobot',
-            executable='twistcalc',
-            name='twistcalc',
-        )
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package="dcaitirobot",
+                executable="joy",
+                name="joystick",
+            ),
+            Node(
+                package="dcaitirobot",
+                executable="twistcalc",
+                name="twistcalc",
+            ),
+        ]
+    )
diff --git a/src/dcaitirobot/launch/start_turtle_slam_sim.py b/src/dcaitirobot/launch/start_turtle_slam_sim.py
new file mode 100644
index 0000000..3a2804f
--- /dev/null
+++ b/src/dcaitirobot/launch/start_turtle_slam_sim.py
@@ -0,0 +1,44 @@
+from pathlib import Path
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    str(Path(__file__).parent.absolute() / "remote_control_launch.py")
+                )
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    str(
+                        (
+                            Path(
+                                get_package_share_directory("turtlebot3_gazebo")
+                            ).absolute()
+                            / "launch"
+                            / "turtlebot3_world.launch.py"
+                        )
+                    )
+                )
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    str(
+                        (
+                            Path(get_package_share_directory("slam_toolbox")).absolute()
+                            / "launch"
+                            / "online_async_launch.py"
+                        )
+                    )
+                ),
+                launch_arguments=[("use_sim_time", "True")],
+            ),
+        ]
+    )