From e156c9c7d88a625df29bc7700c54386f3b81678e Mon Sep 17 00:00:00 2001
From: Kevin DeMarco <kevin.demarco@gtri.gatech.edu>
Date: Wed, 22 Aug 2018 12:29:26 -0400
Subject: [PATCH] updated ros 2d nav stack example mission file

---
 README.md            |  9 +++++++--
 missions/ros-ex1.xml | 15 +++++++++------
 2 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/README.md b/README.md
index fc23cf8..4862168 100644
--- a/README.md
+++ b/README.md
@@ -26,7 +26,12 @@ You will need to build the SCRIMMAGE simulator
 
         $ cd ~/catkin_ws
         $ catkin_make
-        
+
+## Install ROS 2D Navigation Stack Dependencies
+
+    $ sudo apt-get install ros-kinetic-nav2d ros-kinetic-rviz \
+        ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-global-planner
+
 ## Run Example
 
 The example SCRIMMAGE mission / roslaunch simulates two ground robots running
@@ -55,7 +60,7 @@ may be automated in the future, but it's manual configuration for now.
 
 You need to specify the same map file in both multiple-robots.launch
 (name="map\_name" default="simple-maze-1") and the ros-ex1.xml scrimmage
-mission file (e.g., entity_interaction order="0" map="simple-maze-1").
+mission file (e.g., entity_interaction map="simple-maze-1").
 
 ### Robot Transforms
 
diff --git a/missions/ros-ex1.xml b/missions/ros-ex1.xml
index 7cd55b1..4df3bec 100644
--- a/missions/ros-ex1.xml
+++ b/missions/ros-ex1.xml
@@ -16,7 +16,7 @@
 
   <grid_spacing>10</grid_spacing>
   <grid_size>200</grid_size>
-  
+
   <background_color>191 191 191</background_color> <!-- Red Green Blue -->
   <gui_update_period>10</gui_update_period> <!-- milliseconds -->
 
@@ -31,9 +31,12 @@
   <altitude_origin>300</altitude_origin>
   <show_origin>true</show_origin>
   <origin_length>10</origin_length>
-  
-  <entity_interaction order="0" enable_collision_detection="false" show_rays="true">BulletCollision</entity_interaction>
-  <entity_interaction order="1" map="simple-maze-1">MapGen2D</entity_interaction>
+
+  <entity_interaction enable_collision_detection="false" show_rays="true">BulletCollision</entity_interaction>
+  <entity_interaction map="simple-maze-1">MapGen2D</entity_interaction>
+
+  <network>GlobalNetwork</network>
+  <network>LocalNetwork</network>
 
   <!-- uncomment "seed" and use integer for deterministic results -->
   <!--<seed>1714060370</seed>-->
@@ -52,7 +55,7 @@
     <z>0.42</z>
     <heading>0</heading>
 
-    <controller>UnicycleControllerDirect</controller>
+    <controller>DirectController</controller>
     <motion_model>Unicycle</motion_model>
     <visual_model>volkswagen</visual_model>
     <autonomy>ROSAutonomy</autonomy>
@@ -72,7 +75,7 @@
     <z>0.42</z>
     <heading>0</heading>
 
-    <controller>UnicycleControllerDirect</controller>
+    <controller>DirectController</controller>
     <motion_model>Unicycle</motion_model>
     <visual_model>volkswagen</visual_model>
     <autonomy>ROSAutonomy</autonomy>