From 091e110afd48e0d06a48d3b7ae0783978c85efcc Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 16 Sep 2018 04:43:16 +0300
Subject: [PATCH] Move copter_visualization.launch to mavros.launch

---
 clever/launch/copter_visualization.launch | 12 ------------
 clever/launch/mavros.launch               | 10 +++++++++-
 2 files changed, 9 insertions(+), 13 deletions(-)
 delete mode 100644 clever/launch/copter_visualization.launch

diff --git a/clever/launch/copter_visualization.launch b/clever/launch/copter_visualization.launch
deleted file mode 100644
index 24006baf..00000000
--- a/clever/launch/copter_visualization.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<launch>
-    <remap to="mavros/local_position/pose" from="local_position"/>
-    <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
-
-    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization"/>
-
-    <param name="copter_visualization/fixed_frame_id" value="local_origin"/>
-    <param name="copter_visualization/child_frame_id" value="fcu"/>
-    <param name="copter_visualization/marker_scale" value="1"/>
-    <param name="copter_visualization/max_track_size" value="500"/>
-    <param name="copter_visualization/num_rotors" value="4"/>
-</launch>
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index f0f1dc43..c6d3e7ea 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -82,5 +82,13 @@
     <node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 fcu rangefinder"/>
 
     <!-- Copter visualization -->
-    <include file="$(find clever)/launch/copter_visualization.launch" if="$(arg viz)"/>
+    <node name="copter_visualization" pkg="mavros_extras" type="copter_visualization" if="$(arg viz)">
+        <remap to="mavros/local_position/pose" from="local_position"/>
+        <remap to="mavros/setpoint_position/local" from="local_setpoint"/>
+        <param name="copter_visualization/fixed_frame_id" value="local_origin"/>
+        <param name="copter_visualization/child_frame_id" value="fcu"/>
+        <param name="copter_visualization/marker_scale" value="1"/>
+        <param name="copter_visualization/max_track_size" value="20"/>
+        <param name="copter_visualization/num_rotors" value="4"/>
+    </node>
 </launch>