From 4243f7a3cfac33724ef58169bfa45d6b4dcea254 Mon Sep 17 00:00:00 2001
From: bfotheri <fotheringhambrett@gmail.com>
Date: Mon, 15 Jun 2020 10:16:40 -0600
Subject: [PATCH 1/4] Made changes based on pull request comments

---
 .../launch/spawner.rb                         |  4 ++
 .../launch/vehicle_topics.launch              | 51 +++++++++++++++++++
 .../launch/spawner.rb                         |  4 ++
 subt_ros/launch/competition_init.launch       |  4 +-
 4 files changed, 61 insertions(+), 2 deletions(-)

diff --git a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
index 41d44932..6575ef5a 100644
--- a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
@@ -20,6 +20,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
         <wheel_radius>0.1651</wheel_radius>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-1</min_velocity>
+        <max_velocity>1</max_velocity>
+        <min_acceleration>-2</min_acceleration>
+        <max_acceleration>3</max_acceleration>
       </plugin>
       <!-- Publish robot state information -->
       <plugin filename="libignition-gazebo-pose-publisher-system.so"
diff --git a/submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch
index 4586f2eb..b49f8901 100644
--- a/submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch
@@ -107,6 +107,23 @@
       args="$(arg sensor_prefix)/camera_front/depth_image">
       <remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front_facing/depth"/>
     </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_image_front_facing">
+      <remap from="input/image" to="front_facing/image_raw" />
+      <remap from="output/image" to="front_facing/optical/image_raw" />
+      <remap from="input/camera_info" to="front_facing/camera_info" />
+      <remap from="output/camera_info" to="front_facing/optical/camera_info" />
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_depth_front"
+      args="depth">
+      <remap from="input/image" to="front_facing/depth" />
+      <remap from="output/image" to="front_facing/optical/depth" />
+    </node>
 
     <!--30 Degree downward looking RGBD camera -->
     <node
@@ -137,6 +154,23 @@
       args="$(arg sensor_prefix)/camera_down/depth_image">
       <remap from="$(arg sensor_prefix)/camera_down/depth_image" to="front_down/depth"/>
     </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_image_front_down">
+      <remap from="input/image" to="front_down/image_raw" />
+      <remap from="output/image" to="front_down/optical/image_raw" />
+      <remap from="input/camera_info" to="front_down/camera_info" />
+      <remap from="output/camera_info" to="front_down/optical/camera_info" />
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_depth_down"
+      args="depth">
+      <remap from="input/image" to="front_down/depth" />
+      <remap from="output/image" to="front_down/optical/depth" />
+    </node>
 
       <!--Pan Tilt RGBD camera -->
     <node
@@ -167,6 +201,23 @@
       args="$(arg gimbal_sensor_prefix)/camera_pan_tilt/depth_image">
       <remap from="$(arg gimbal_sensor_prefix)/camera_pan_tilt/depth_image" to="pan_tilt/depth"/>
     </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_image_pan_tilt">
+      <remap from="input/image" to="pan_tilt/image_raw" />
+      <remap from="output/image" to="pan_tilt/optical/image_raw" />
+      <remap from="input/camera_info" to="pan_tilt/camera_info" />
+      <remap from="output/camera_info" to="pan_tilt/optical/camera_info" />
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_depth_pan_tilt"
+      args="depth">
+      <remap from="input/image" to="pan_tilt/depth" />
+      <remap from="output/image" to="pan_tilt/optical/depth" />
+    </node>
 
     <!--OS1-64 3D Laser-->
     <node
diff --git a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
index eee80b84..ed8b98e0 100644
--- a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
@@ -19,6 +19,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
   "      <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
   "      <wheel_radius>0.098</wheel_radius>\n"\
   "      <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\
+  "      <min_velocity>-1</min_velocity>\n"\
+  "      <max_velocity>1</max_velocity>\n"\
+  "      <min_acceleration>-2</min_acceleration>\n"\
+  "      <max_acceleration>3</max_acceleration>\n"\
   "    </plugin>\n"\
   "    <!-- Publish robot state information -->\n"\
   "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
diff --git a/subt_ros/launch/competition_init.launch b/subt_ros/launch/competition_init.launch
index 75558e93..5b23bbe8 100644
--- a/subt_ros/launch/competition_init.launch
+++ b/subt_ros/launch/competition_init.launch
@@ -18,10 +18,10 @@
     type="subt_ros_relay"
     name="subt_ros_relay"/>
 
-  <!--<node
+  <node
     pkg="subt_ros"
     type="bridge_logger"
-    name="bridge_logger"/>-->
+    name="bridge_logger"/>
 
 
   <node

From 8178316935f6eae9e02da81a28275fe449e1ecae Mon Sep 17 00:00:00 2001
From: bfotheri <fotheringhambrett@gmail.com>
Date: Wed, 17 Jun 2020 08:49:34 -0600
Subject: [PATCH 2/4] Update spawner.rb to fix negative accel limit

---
 submitted_models/marble_husky_sensor_config_1/launch/spawner.rb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
index 6575ef5a..bbedab7a 100644
--- a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
@@ -22,7 +22,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <topic>/model/#{_name}/cmd_vel_relay</topic>
         <min_velocity>-1</min_velocity>
         <max_velocity>1</max_velocity>
-        <min_acceleration>-2</min_acceleration>
+        <min_acceleration>-3</min_acceleration>
         <max_acceleration>3</max_acceleration>
       </plugin>
       <!-- Publish robot state information -->

From b157df4fb218e459461328b6d161c9c6492d55d2 Mon Sep 17 00:00:00 2001
From: bfotheri <fotheringhambrett@gmail.com>
Date: Wed, 17 Jun 2020 09:51:10 -0600
Subject: [PATCH 3/4] updated instructions for building ros ign bridge

---
 .../BuildingCustomRosIgnBridgeForMarble.txt           | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/submitted_models/marble_husky_sensor_config_1/BuildingCustomRosIgnBridgeForMarble.txt b/submitted_models/marble_husky_sensor_config_1/BuildingCustomRosIgnBridgeForMarble.txt
index d7ac505c..2af1b577 100644
--- a/submitted_models/marble_husky_sensor_config_1/BuildingCustomRosIgnBridgeForMarble.txt
+++ b/submitted_models/marble_husky_sensor_config_1/BuildingCustomRosIgnBridgeForMarble.txt
@@ -1,10 +1,10 @@
-# Building custom ros_ign_bridge to make pan/tilt gimbal work (on marble vehicles):
+# Building ros_ign_bridge to make pan/tilt gimbal work (on marble vehicles):
 
 First, follow instructions for building from source on this page:
-https://github.com/realdealneil/ros_ign/tree/melodic/ros_ign_bridge
+https://github.com/osrf/ros_ign/tree/melodic/ros_ign_bridge
 
 Except, use the following clone URL instead:
-git clone https://github.com/realdealneil/ros_ign.git -b melodic
+git clone https://github.com/osrf/ros_ign.git -b melodic
 
 Once you've built, you will need to stack your workspace (subt workspace)
 on top of this workspace.  To do this, do as follows:
@@ -17,6 +17,5 @@ source ~/bridge_ws/install/setup.bash
 catkin_make install
 ```
 
-Alternatively, you can clone the above repo directly inside of subt repo 
-and do a clean build.  I have issued pull request on ros_ign_bridge and
-once that has made its way into subt, this will no longer be necessary.  
+Once the binaries for this package are updated a simple "sudo apt-get install ros-melodic-ros-ign-bridge" will suffice for installation
+

From a147d33a03ccf811aecbd3f2b887106b677e07b9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <cen.aguero@gmail.com>
Date: Thu, 18 Jun 2020 16:55:40 +0200
Subject: [PATCH 4/4] Update spawner.rb

---
 .../robotika_x2_sensor_config_1/launch/spawner.rb             | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
index ed8b98e0..eee80b84 100644
--- a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
@@ -19,10 +19,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
   "      <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
   "      <wheel_radius>0.098</wheel_radius>\n"\
   "      <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\
-  "      <min_velocity>-1</min_velocity>\n"\
-  "      <max_velocity>1</max_velocity>\n"\
-  "      <min_acceleration>-2</min_acceleration>\n"\
-  "      <max_acceleration>3</max_acceleration>\n"\
   "    </plugin>\n"\
   "    <!-- Publish robot state information -->\n"\
   "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\