From 041f9bdf0a68bd65f486fd88b124e6eb92fb1478 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 20 Nov 2020 19:16:30 +0900
Subject: [PATCH 1/3] add robot_pose_publisher in fetch_bringup.launch

---
 .../jsk_fetch_startup/launch/fetch_bringup.launch        | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
index 30e29fd74f..ff8eac74b2 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -246,4 +246,13 @@
     <remap from="~input" to="/odom" />
     <remap from="~output" to="/odom_corrected" />
   </node>
+
+  <!-- robot_pose_publisher for rwt_nav -->
+  <node name="robot_pose_publisher" pkg="robot_pose_publisher" type="robot_pose_publisher">
+    <rosparam>
+      map_frame: /map
+      base_frame: /base_link
+    </rosparam>
+  </node>
+
 </launch>

From 14f2b539123109c51806d0bee55afb02f3439626 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Sun, 29 Nov 2020 11:04:33 +0900
Subject: [PATCH 2/3] add robot_pose_publisher in run_depend

---
 jsk_fetch_robot/jsk_fetch_startup/package.xml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/jsk_fetch_robot/jsk_fetch_startup/package.xml b/jsk_fetch_robot/jsk_fetch_startup/package.xml
index ee411f62e7..d01ea0a097 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/package.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/package.xml
@@ -45,6 +45,9 @@
   <run_depend>julius_ros</run_depend>
   <run_depend version_gte="2.1.13">respeaker_ros</run_depend>
 
+  <!-- for rwt_nav -->
+  <run_depend>robot_pose_publisher</run_depend>
+
   <test_depend>rostest</test_depend>
 
   <export>

From 67092675ae6a91515f69dc728041defd32a535f6 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Thu, 10 Dec 2020 13:08:20 +0900
Subject: [PATCH 3/3] add robot_pose_publisher in .travis.rosinstal.melodic

---
 .travis.rosinstall.melodic | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/.travis.rosinstall.melodic b/.travis.rosinstall.melodic
index 2cdfd52a68..0221d793e0 100644
--- a/.travis.rosinstall.melodic
+++ b/.travis.rosinstall.melodic
@@ -40,3 +40,10 @@
     local-name: fetchrobotics/fetch_ros
     uri: https://github.com/fetchrobotics/fetch_ros.git
     version: ba4bafdb802e474487d1e0d893aa25c9535dc55f
+# robot_pose_publisher is not released in melodic
+# https://github.com/GT-RAIL/robot_pose_publisher/issues/8
+# robot_pose_publisher is needed for rwt_nav
+- git:
+    local-name: GT-RAIL/robot_pose_publisher
+    uri: https://github.com/GT-RAIL/robot_pose_publisher.git
+    version: 0.2.4