From 4d4aef42c59dd4aa0092362f332f6fe40a2a170f Mon Sep 17 00:00:00 2001
From: Dinesh Thakur <tdinesh@seas.upenn.edu>
Date: Wed, 13 Jul 2022 22:17:00 -0400
Subject: [PATCH] use kr_mavros_interface

---
 .../px4_interface_launch/launch/SO3_command_to_mavros.launch    | 2 +-
 .../launch/fla250.launch                                        | 2 +-
 .../params/extras.txt                                           | 0
 .../params/fla250.params                                        | 0
 .../params/pixhawk.params                                       | 0
 .../params/pixracer.params                                      | 0
 6 files changed, 2 insertions(+), 2 deletions(-)
 rename autonomy_core/interface/{mavros_interface => px4_interface_launch}/launch/fla250.launch (96%)
 rename autonomy_core/interface/{mavros_interface => px4_interface_launch}/params/extras.txt (100%)
 rename autonomy_core/interface/{mavros_interface => px4_interface_launch}/params/fla250.params (100%)
 rename autonomy_core/interface/{mavros_interface => px4_interface_launch}/params/pixhawk.params (100%)
 rename autonomy_core/interface/{mavros_interface => px4_interface_launch}/params/pixracer.params (100%)

diff --git a/autonomy_core/interface/px4_interface_launch/launch/SO3_command_to_mavros.launch b/autonomy_core/interface/px4_interface_launch/launch/SO3_command_to_mavros.launch
index 8f8f1827..889841f4 100644
--- a/autonomy_core/interface/px4_interface_launch/launch/SO3_command_to_mavros.launch
+++ b/autonomy_core/interface/px4_interface_launch/launch/SO3_command_to_mavros.launch
@@ -29,7 +29,7 @@
   <!-- <arg name="rpm_vs_throttle_coeff_a" default="6478.1337706"/> -->
   <!-- <arg name="rpm_vs_throttle_coeff_b" default="1807.3243354"/> -->
   <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" args="standalone mavros_interface/SO3CmdToMavros" name="so3cmd_to_mavros" required="true" clear_params="true" output="screen">
+    <node pkg="nodelet" type="nodelet" args="standalone kr_mavros_interface/SO3CmdToMavros" name="so3cmd_to_mavros" required="true" clear_params="true" output="screen">
       <param name="num_props" value="$(arg num_props)"/>
       <param name="thrust_vs_rpm_coeff_a" value="$(arg thrust_vs_rpm_coeff_a)"/>
       <param name="thrust_vs_rpm_coeff_b" value="$(arg thrust_vs_rpm_coeff_b)"/>
diff --git a/autonomy_core/interface/mavros_interface/launch/fla250.launch b/autonomy_core/interface/px4_interface_launch/launch/fla250.launch
similarity index 96%
rename from autonomy_core/interface/mavros_interface/launch/fla250.launch
rename to autonomy_core/interface/px4_interface_launch/launch/fla250.launch
index a48e0b83..27090314 100644
--- a/autonomy_core/interface/mavros_interface/launch/fla250.launch
+++ b/autonomy_core/interface/px4_interface_launch/launch/fla250.launch
@@ -18,7 +18,7 @@
   <group ns="$(arg robot)">
     <node pkg="nodelet"
       type="nodelet"
-      args="standalone mavros_interface/SO3CmdToMavros"
+      args="standalone kr_mavros_interface/SO3CmdToMavros"
       name="so3cmd_to_mavros"
       required="true"
       clear_params="true"
diff --git a/autonomy_core/interface/mavros_interface/params/extras.txt b/autonomy_core/interface/px4_interface_launch/params/extras.txt
similarity index 100%
rename from autonomy_core/interface/mavros_interface/params/extras.txt
rename to autonomy_core/interface/px4_interface_launch/params/extras.txt
diff --git a/autonomy_core/interface/mavros_interface/params/fla250.params b/autonomy_core/interface/px4_interface_launch/params/fla250.params
similarity index 100%
rename from autonomy_core/interface/mavros_interface/params/fla250.params
rename to autonomy_core/interface/px4_interface_launch/params/fla250.params
diff --git a/autonomy_core/interface/mavros_interface/params/pixhawk.params b/autonomy_core/interface/px4_interface_launch/params/pixhawk.params
similarity index 100%
rename from autonomy_core/interface/mavros_interface/params/pixhawk.params
rename to autonomy_core/interface/px4_interface_launch/params/pixhawk.params
diff --git a/autonomy_core/interface/mavros_interface/params/pixracer.params b/autonomy_core/interface/px4_interface_launch/params/pixracer.params
similarity index 100%
rename from autonomy_core/interface/mavros_interface/params/pixracer.params
rename to autonomy_core/interface/px4_interface_launch/params/pixracer.params