From fccf07105153af0d88cef1eda09c02a8231ab3b9 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Wed, 31 Jan 2024 20:58:27 +0100
Subject: [PATCH] updated garmin topic for the new simulation

---
 launch/api.launch                      | 3 +--
 launch/mavros_gazebo_simulation.launch | 3 ++-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/api.launch b/launch/api.launch
index 6d636dc..42ad3cc 100644
--- a/launch/api.launch
+++ b/launch/api.launch
@@ -42,8 +42,7 @@
       <remap if="$(eval arg('OLD_PX4_FW') == 0)" from="~mavros_local_position_in" to="mavros/odometry/in" />
       <remap if="$(eval arg('OLD_PX4_FW') == 1)" from="~mavros_local_position_in" to="mavros/local_position/odom" />
       <remap from="~mavros_global_position_in" to="mavros/global_position/global" />
-      <remap if="$(eval arg('RUN_TYPE') == 'simulation')" from="~mavros_garmin_in" to="garmin/range" />
-      <remap if="$(eval arg('RUN_TYPE') == 'realworld')" from="~mavros_garmin_in" to="mavros/distance_sensor/garmin" />
+      <remap from="~mavros_garmin_in" to="mavros/distance_sensor/garmin" />
       <remap from="~mavros_imu_in" to="mavros/imu/data" />
       <remap from="~mavros_magnetometer_in" to="mavros/global_position/compass_hdg" />
       <remap from="~mavros_magnetic_field_in" to="mavros/imu/mag" />
diff --git a/launch/mavros_gazebo_simulation.launch b/launch/mavros_gazebo_simulation.launch
index 8cfb5d2..da9a956 100644
--- a/launch/mavros_gazebo_simulation.launch
+++ b/launch/mavros_gazebo_simulation.launch
@@ -25,14 +25,15 @@
 
       <!-- MAVROS -->
     <node pkg="mavros" type="mavros_node" name="mavros" required="$(eval not respawn_mavros)" clear_params="true" output="$(arg log_output)" respawn="$(arg respawn_mavros)">
+
       <param name="fcu_url" value="$(arg fcu_url)" />
       <param name="gcs_url" value="$(arg gcs_url)" />
       <param name="target_system_id" value="$(arg tgt_system)" />
       <param name="target_component_id" value="$(arg tgt_component)" />
       <param name="fcu_protocol" value="$(arg fcu_protocol)" />
 
-      <param name="distance_sensor/garmin/id" value="0" />
       <param name="distance_sensor/garmin/frame_id" value="uav$(arg ID)/garmin" />
+
       <param name="local_position/frame_id" value="uav$(arg ID)/pixhawk_origin" />
       <param name="local_position/tf/child_frame_id" value="uav$(arg ID)/fcu" />
       <param name="imu/frame_id" value="uav$(arg ID)/fcu" />