From e7806ea34322e1a16f43ff5f2890594b7712b70b Mon Sep 17 00:00:00 2001
From: Awf Wiswasi <55606355+awiswasi@users.noreply.github.com>
Date: Sat, 24 Feb 2024 14:12:05 -0800
Subject: [PATCH 1/6] Update CMakeLists.txt

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd89c58..b3329d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(m2wr_description)
+project(obstacle_avoidance_bot)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)

From 8ee03b425a18a84e79c6c9d9bd1eb053f767b6f5 Mon Sep 17 00:00:00 2001
From: Awf Wiswasi <55606355+awiswasi@users.noreply.github.com>
Date: Sat, 24 Feb 2024 14:12:31 -0800
Subject: [PATCH 2/6] Update package.xml

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index acb870e..590e3f8 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>m2wr_description</name>
+  <name>obstacle_avoidance_bot</name>
   <version>0.0.0</version>
   <description>The m2wr_description package</description>
 

From 8f977aec9ab1c910cc4c0180efa554262e4735b2 Mon Sep 17 00:00:00 2001
From: Awf Wiswasi <55606355+awiswasi@users.noreply.github.com>
Date: Sat, 24 Feb 2024 14:12:57 -0800
Subject: [PATCH 3/6] Update spawn.launch

---
 launch/spawn.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/spawn.launch b/launch/spawn.launch
index a652951..2c2cbdc 100644
--- a/launch/spawn.launch
+++ b/launch/spawn.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <param command="$(find xacro)/xacro '$(find m2wr_description)/urdf/bot_description.xacro'" name="robot_description"/>
+  <param command="$(find xacro)/xacro '$(find obstacle_avoidance_bot)/urdf/bot_description.xacro'" name="robot_description"/>
 
     <arg name="x" default="0"/>
     <arg name="y" default="0"/>
@@ -9,4 +9,4 @@
     <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
           args="-urdf -param robot_description -model bot_description -x $(arg x) -y $(arg y) -z $(arg z)" />
 
-</launch>
\ No newline at end of file
+</launch>

From 8403ad1a13406670b082dcb027694a496c8c073f Mon Sep 17 00:00:00 2001
From: Awf Wiswasi <55606355+awiswasi@users.noreply.github.com>
Date: Sat, 24 Feb 2024 14:13:22 -0800
Subject: [PATCH 4/6] Update rviz.launch

---
 launch/rviz.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/rviz.launch b/launch/rviz.launch
index 9b4eb3a..07050b7 100644
--- a/launch/rviz.launch
+++ b/launch/rviz.launch
@@ -1,9 +1,9 @@
 <launch>
   <arg name="gui" default="true" />
 
-  <arg name="model" default="$(find m2wr_description)/urdf/bot_description.xacro"/>
+  <arg name="model" default="$(find obstacle_avoidance_bot)/urdf/bot_description.xacro"/>
 
-  <param command="$(find xacro)/xacro '$(find m2wr_description)/urdf/bot_description.xacro'" name="robot_description"/>
+  <param command="$(find xacro)/xacro '$(find obstacle_avoidance_bot)/urdf/bot_description.xacro'" name="robot_description"/>
  
   <!-- <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" /> -->
 

From 842e5390795dfaf4cf997602129aaf8b522c8529 Mon Sep 17 00:00:00 2001
From: Awf Wiswasi <55606355+awiswasi@users.noreply.github.com>
Date: Sat, 24 Feb 2024 14:14:27 -0800
Subject: [PATCH 5/6] Update bot_description.xacro

---
 urdf/bot_description.xacro | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/urdf/bot_description.xacro b/urdf/bot_description.xacro
index ad78083..585ca45 100644
--- a/urdf/bot_description.xacro
+++ b/urdf/bot_description.xacro
@@ -1,14 +1,14 @@
 <?xml version="1.0" ?>
-<robot name="m2wr" xmlns:xacro="https://www.ros.org/wiki/xacro" >   <!-- this second parameter is importent to make this file a valid xacro file -->
+<robot name="m2wr" xmlns:xacro="https://www.ros.org/wiki/xacro" >   <!-- this second parameter is important to make this file a valid xacro file -->
 
 <!-- in rviz red - x  | green - y | blue -z  -->
 
 <!-- while using odom tf do not forget to do   rosparam set use_sim_time true  as this gives all simulations the same time -->
 
 
-<xacro:include filename="$(find m2wr_description)/urdf/material.xacro" />
-<xacro:include filename="$(find m2wr_description)/urdf/gazebo.xacro" />
-<xacro:include filename="$(find m2wr_description)/urdf/link_joint.xacro" />
+<xacro:include filename="$(find obstacle_avoidance_bot)/urdf/material.xacro" />
+<xacro:include filename="$(find obstacle_avoidance_bot)/urdf/gazebo.xacro" />
+<xacro:include filename="$(find obstacle_avoidance_bot)/urdf/link_joint.xacro" />
 
     
   <link name="link_chassis">
@@ -75,4 +75,4 @@
   <!-- Create joint left --> 
   <xacro:joint_wheel name="joint_left_wheel" param_xyz="-0.05 -0.3 0" child="link_left_wheel"  />
   
-</robot>
\ No newline at end of file
+</robot>

From e3161375438a3ed3b5bcd2f8987d007a4e9cbd4b Mon Sep 17 00:00:00 2001
From: Awf Wiswasi <55606355+awiswasi@users.noreply.github.com>
Date: Sat, 24 Feb 2024 14:15:14 -0800
Subject: [PATCH 6/6] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index b9a9eda..c915b02 100644
--- a/README.md
+++ b/README.md
@@ -9,8 +9,8 @@ Xacro is used in the project to clean the URDF code.
 2. Run `catkin_make`
 3. Go to obstacle-avoid.py and make it executable using `chmod +x obstacle_avoidance.py`. No need to do this step if you are using the obstacle-avoid.cpp code.
 3. Open 3 Terminals
-4. Run the command `roslaunch Obstacle-Avoidance-Bot-Using-ROS spawn.launch`. 
-5. In the second terminal run the command `rosrun Obstacle-Avoidance-Bot-Using-ROS obstacle_avoidance.py` or `rosrun Obstacle-Avoidance-Bot-Using-ROS obstacle_avoidance.cpp`
+4. Run the command `roslaunch obstacle_avoidance_bot spawn.launch`. 
+5. In the second terminal run the command `rosrun obstacle_avoidance_bot obstacle_avoidance.py` or `rosrun obstacle_avoidance_bot obstacle_avoidance.cpp`
 6. In last terminal, run the command `rosrun gazebo_ros gazebo --verbose` to start the robot and begin the obstacle avoidance course.
 7. Add blocks in between wherever you want or you can download a world from anywhere else and spawn the bot there.