From 7b8c3c2c0bd355eaf01b44ee390db59db7acf6d9 Mon Sep 17 00:00:00 2001
From: StrBoll <phillipboll107@gmail.com>
Date: Sun, 19 Mar 2023 20:42:44 -0400
Subject: [PATCH] Created system for calling namespaces for any sub in gazebo
 simulation

---
 .../subjugator_launch/launch/gazebo.launch    | 27 +++++++++++--------
 1 file changed, 16 insertions(+), 11 deletions(-)

diff --git a/SubjuGator/command/subjugator_launch/launch/gazebo.launch b/SubjuGator/command/subjugator_launch/launch/gazebo.launch
index d533a134c..0f7320141 100644
--- a/SubjuGator/command/subjugator_launch/launch/gazebo.launch
+++ b/SubjuGator/command/subjugator_launch/launch/gazebo.launch
@@ -1,18 +1,23 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+	
 	<arg name="gui" default="false" />
 	<arg name="simulate_cams" default="true" />
-    <arg name="sub" default="sub8" />
+	<arg name="sub" default="sub8"/>
 
-  <include file="$(find subjugator_launch)/launch/sub8.launch">
-    <arg name="environment" value="gazebo" />
-	<arg name="simulate_cams" value="$(arg simulate_cams)" />
-    <arg name="sub" value="$(arg sub)"/>
-  </include>
+<group ns="$(arg sub)">
+	<include file="$(find subjugator_launch)/launch/$(arg sub).launch">
+		<arg name="environment" value="gazebo" />
+		<arg name="simulate_cams" value="$(arg simulate_cams)"/>
+		
+	</include>
+	
+	<include file="$(find subjugator_gazebo)/launch/duck.launch">
+		<arg name="gui" value="$(arg gui)"/>
+		<arg name="simulate_cams" value="$(arg simulate_cams)"/>
+		</include>
+	</group>
+	
 
-  <include file="$(find subjugator_gazebo)/launch/duck.launch">
-	<arg name="gui" value="$(arg gui)" />
-	<arg name="simulate_cams" value="$(arg simulate_cams)" />
-    <arg name="sub" value="$(arg sub)"/>
-  </include>
 </launch>
+