From cde6ac634deff5849e8096ef32d244faac648d07 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.vander.burgh@live.nl>
Date: Wed, 17 Apr 2019 23:34:52 +0200
Subject: [PATCH 1/4] fix indent

---
 launch/hero_bringup.launch | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/launch/hero_bringup.launch b/launch/hero_bringup.launch
index 795d1bf7..cabb9cc7 100644
--- a/launch/hero_bringup.launch
+++ b/launch/hero_bringup.launch
@@ -168,9 +168,8 @@
                 <arg name="robot_name" value="$(arg robot_name)"/>
             </include>
 
-			<!-- whole timeopt filter -->
-			<include file="$(find hsrb_timeopt_ros)/launch/hsrb_timeopt_filter.launch">
-		    </include>
+            <!-- whole timeopt filter -->
+            <include file="$(find hsrb_timeopt_ros)/launch/hsrb_timeopt_filter.launch" />
 
             <!-- Finger impedance control in whole body -->
             <remap from="/hsrb/joint_states" to="$(arg namespace)/joint_states" />

From 2aca8a9bc60a8df12c2302af5d7cd57ea3ca9d00 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.vander.burgh@live.nl>
Date: Sat, 20 Apr 2019 22:19:32 +0200
Subject: [PATCH 2/4] fix torso in gazebo

---
 launch/simulation/gazebo.launch | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/simulation/gazebo.launch b/launch/simulation/gazebo.launch
index 22134675..9542ddc5 100644
--- a/launch/simulation/gazebo.launch
+++ b/launch/simulation/gazebo.launch
@@ -62,9 +62,9 @@
     <remap from="/hsrb/command_suction" to="$(arg namespace)/command_suction" />
 
     <!-- Torso controller -->
-    <!-- This should be remapped, but the topics/services disappear when doing it
-    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint" />
-    -->
+    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint/parameter_descriptions" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint/parameter_descriptions" />
+    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint/parameter_updates" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint/parameter_updates" />
+    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint/set_parameters" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint/set_parameters" />
 
     <!-- Wrist -->
     <remap from="/hsrb/wrist_wrench/raw" to="$(arg namespace)/wrist_wrench/raw" />

From 0cf5dd01745eaefeb40522b257316c1cc993c1df Mon Sep 17 00:00:00 2001
From: Peter van Dooren <pepevandooren@hotmail.com>
Date: Mon, 22 Apr 2019 20:37:12 +0200
Subject: [PATCH 3/4] made execStart multiline for readability

---
 scripts/openpose.service | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/scripts/openpose.service b/scripts/openpose.service
index de36fd12..a1b982d6 100644
--- a/scripts/openpose.service
+++ b/scripts/openpose.service
@@ -7,4 +7,13 @@ WantedBy=multi-user.target
 [Service]
 User=amigo
 Restart=on-abort
-ExecStart=/bin/bash -c 'source /home/amigo/.tue/setup.bash && export PATH=/usr/local/cuda/bin:$PATH && export LD_LIBRARY_PATH=/usr/local/cuda/lib64$:$LD_LIBRARY_PATH && rosrun image_recognition_openpose openpose_node _net_input_width:=368 _net_input_height:=368 _net_output_width:=368 _net_output_height:=368 _model_folder:=/home/amigo/openpose/models/ __ns:=hero/openpose image:=/hero/head_rgbd_sensor/rgb/image_raw'
+ExecStart=/bin/bash -c 'source /home/amigo/.tue/setup.bash \
+        && export PATH=/usr/local/cuda/bin:$PATH \
+        && export LD_LIBRARY_PATH=/usr/local/cuda/lib64$:$LD_LIBRARY_PATH \
+        && rosrun image_recognition_openpose openpose_node \
+        _net_input_width:=368 \
+        _net_input_height:=368 \
+        _net_output_width:=368 \
+        _net_output_height:=368 \
+        _model_folder:=/home/amigo/openpose/models/ \
+        __ns:=hero/openpose image:=/hero/head_rgbd_sensor/rgb/image_raw'

From 36349de07ef5029dc0002a13161fc017a8c22c10 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.vander.burgh@live.nl>
Date: Mon, 22 Apr 2019 22:26:14 +0200
Subject: [PATCH 4/4] Update openpose.service

---
 scripts/openpose.service | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/scripts/openpose.service b/scripts/openpose.service
index a1b982d6..36354f38 100644
--- a/scripts/openpose.service
+++ b/scripts/openpose.service
@@ -16,4 +16,5 @@ ExecStart=/bin/bash -c 'source /home/amigo/.tue/setup.bash \
         _net_output_width:=368 \
         _net_output_height:=368 \
         _model_folder:=/home/amigo/openpose/models/ \
-        __ns:=hero/openpose image:=/hero/head_rgbd_sensor/rgb/image_raw'
+        __ns:=hero/openpose \
+        image:=/hero/head_rgbd_sensor/rgb/image_raw'