From 6385ea1cd79d179a655d6c14d931e19a237dc880 Mon Sep 17 00:00:00 2001
From: Andrew Yarovoi <ayarovoi3@gatech.edu>
Date: Sun, 22 Sep 2019 01:54:36 -0400
Subject: [PATCH 1/3] Added organize_cloud param to velodyne_lidar.launch

---
 .gitmodules                                | 6 ++++++
 external/velodyne                          | 1 +
 igvc_platform/launch/velodyne_lidar.launch | 2 ++
 3 files changed, 9 insertions(+)
 create mode 160000 external/velodyne

diff --git a/.gitmodules b/.gitmodules
index e759f17f3..51cebf311 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,9 @@
 [submodule "external/rj-ros-common"]
 	path = external/rj-ros-common
 	url = https://github.com/RoboJackets/rj-ros-common
+[submodule "velodyne"]
+	path = velodyne
+	url = https://github.com/ros-drivers/velodyne.git
+[submodule "external/velodyne"]
+	path = external/velodyne
+	url = https://github.com/ros-drivers/velodyne.git
diff --git a/external/velodyne b/external/velodyne
new file mode 160000
index 000000000..720829573
--- /dev/null
+++ b/external/velodyne
@@ -0,0 +1 @@
+Subproject commit 720829573076bf7d7edd4b1de344924fad909049
diff --git a/igvc_platform/launch/velodyne_lidar.launch b/igvc_platform/launch/velodyne_lidar.launch
index 9b0c681fc..3674691dd 100644
--- a/igvc_platform/launch/velodyne_lidar.launch
+++ b/igvc_platform/launch/velodyne_lidar.launch
@@ -23,6 +23,7 @@
   <arg name="cut_angle" default="-0.01" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
+  <arg name="organize_cloud" default="true"/>
 
   <!-- start nodelet manager and driver nodelets -->
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
@@ -37,6 +38,7 @@
     <arg name="repeat_delay" value="$(arg repeat_delay)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
+    <arg name="organize_cloud" value="$(arg organize_cloud)"/>
   </include>
 
   <!-- start cloud nodelet -->

From dc4d897f5f26e6f51771377ee851e2b307a4730c Mon Sep 17 00:00:00 2001
From: Andrew Yarovoi <ayarovoi3@gatech.edu>
Date: Sun, 22 Sep 2019 02:07:24 -0400
Subject: [PATCH 2/3] changed the default to false and corrected which node
 receives the argument

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

diff --git a/igvc_platform/launch/velodyne_lidar.launch b/igvc_platform/launch/velodyne_lidar.launch
index 3674691dd..4130de72a 100644
--- a/igvc_platform/launch/velodyne_lidar.launch
+++ b/igvc_platform/launch/velodyne_lidar.launch
@@ -23,7 +23,7 @@
   <arg name="cut_angle" default="-0.01" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
-  <arg name="organize_cloud" default="true"/>
+  <arg name="organize_cloud" default="false"/>
 
   <!-- start nodelet manager and driver nodelets -->
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
@@ -38,7 +38,6 @@
     <arg name="repeat_delay" value="$(arg repeat_delay)"/>
     <arg name="rpm" value="$(arg rpm)"/>
     <arg name="cut_angle" value="$(arg cut_angle)"/>
-    <arg name="organize_cloud" value="$(arg organize_cloud)"/>
   </include>
 
   <!-- start cloud nodelet -->
@@ -47,6 +46,7 @@
     <arg name="manager" value="$(arg manager)" />
     <arg name="max_range" value="$(arg max_range)"/>
     <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="organize_cloud" value="$(arg organize_cloud)"/>
   </include>
 
   <!-- start laserscan nodelet -->

From 0eeb26df2738b68e06ad83b3705b019e608b19c5 Mon Sep 17 00:00:00 2001
From: Andrew Yarovoi <ayarovoi3@gatech.edu>
Date: Sun, 22 Sep 2019 13:23:00 -0400
Subject: [PATCH 3/3] removed the duplicate submodule from .gitmodules

---
 .gitmodules | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index 51cebf311..6a1c0d60c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,6 @@
 [submodule "external/rj-ros-common"]
 	path = external/rj-ros-common
 	url = https://github.com/RoboJackets/rj-ros-common
-[submodule "velodyne"]
-	path = velodyne
-	url = https://github.com/ros-drivers/velodyne.git
 [submodule "external/velodyne"]
 	path = external/velodyne
 	url = https://github.com/ros-drivers/velodyne.git