From 7c1ef775de74752fff0df2c1af52053def606c94 Mon Sep 17 00:00:00 2001
From: Gerardo Puga <glpuga@gmail.com>
Date: Mon, 16 Dec 2024 11:54:30 -0300
Subject: [PATCH] fixup! fixup! fixup! fixup! fixup! fixup! fixup! fixup!
 fixup! Add package to evaluate the impact of the beam skipping feature in
 nav2

---
 .../launch/beam_skipping_evaluation.launch                | 2 +-
 .../beam_skipping_evaluation/scripts/nominal.robot        | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/benchmarks/beam_skipping_evaluation/launch/beam_skipping_evaluation.launch b/src/benchmarks/beam_skipping_evaluation/launch/beam_skipping_evaluation.launch
index d276a03..259ecba 100755
--- a/src/benchmarks/beam_skipping_evaluation/launch/beam_skipping_evaluation.launch
+++ b/src/benchmarks/beam_skipping_evaluation/launch/beam_skipping_evaluation.launch
@@ -104,7 +104,7 @@
 
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen">
     <param name="use_sim_time" value="$(var use_sim_time)" />
-    <param name="config" value="$(find-pkg-share beam_skipping_evaluation)/config/beam_skipping_evaluation.rviz" />
+    <param name="config" value="$(find-pkg-share beam_skipping_evaluation)/config/display.rviz" />
   </node>
 
 </launch>
\ No newline at end of file
diff --git a/src/benchmarks/beam_skipping_evaluation/scripts/nominal.robot b/src/benchmarks/beam_skipping_evaluation/scripts/nominal.robot
index bf06969..b663c53 100755
--- a/src/benchmarks/beam_skipping_evaluation/scripts/nominal.robot
+++ b/src/benchmarks/beam_skipping_evaluation/scripts/nominal.robot
@@ -203,10 +203,10 @@ ${WILLOW_DSET_DIR}           willow_garage_dataset_ros2_localization_only
 # ...                           hq_simulation_segment_46
 # ...                           hq_simulation_segment_47
 # ...                           hq_simulation_segment_48
-@{HQ_SIMULATION_BAGS}         hq_simulation_segment_1
-...                           hq_simulation_segment_2
-...                           hq_simulation_segment_3
-...                           hq_simulation_segment_4
+@{HQ_SIMULATION_BAGS}         hq_simulation_segment_5
+
+# problematicos:
+# - hq_simulation_segment_4
 
 
 *** Test Cases ***        DATASET                         BASEDIR                   ODOM_FRAME     MAP_FRAME  BASE_FRAME      SCAN_TOPIC     ITERATION      INITIAL_POSE_X  INITIAL_POSE_Y  INITIAL_POSE_YAW    ROBOT_MODEL_TYPE