From 6d48b40c15a39918fb1899027726a173d3c83f6f Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Fri, 2 Apr 2021 20:41:30 -0700
Subject: [PATCH 1/3] Fix deprecated declare_parameter

---
 turtlebot3_fake_node/src/turtlebot3_fake_node.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp b/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp
index e84cbce..4d3fe9d 100644
--- a/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp
+++ b/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp
@@ -72,11 +72,11 @@ Turtlebot3Fake::~Turtlebot3Fake()
 void Turtlebot3Fake::init_parameters()
 {
   // Declare parameters that may be set on this node
-  this->declare_parameter("joint_states_frame");
-  this->declare_parameter("odom_frame");
-  this->declare_parameter("base_frame");
-  this->declare_parameter("wheels.separation");
-  this->declare_parameter("wheels.radius");
+  this->declare_parameter<std::string>("joint_states_frame");
+  this->declare_parameter<std::string>("odom_frame");
+  this->declare_parameter<std::string>("base_frame");
+  this->declare_parameter<double>("wheels.separation");
+  this->declare_parameter<double>("wheels.radius");
 
   // Get parameters from yaml
   this->get_parameter_or<std::string>(

From a99057b60e3e001fca1ec8bc7c658d90265a9fd5 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Fri, 2 Apr 2021 21:02:24 -0700
Subject: [PATCH 2/3] Clear up exec_depend

---
 turtlebot3_gazebo/CMakeLists.txt | 2 --
 turtlebot3_gazebo/package.xml    | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/turtlebot3_gazebo/CMakeLists.txt b/turtlebot3_gazebo/CMakeLists.txt
index a726f4e..0f17f08 100644
--- a/turtlebot3_gazebo/CMakeLists.txt
+++ b/turtlebot3_gazebo/CMakeLists.txt
@@ -27,7 +27,6 @@ find_package(nav_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(turtlebot3 REQUIRED)
 
 ################################################################################
 # Build
@@ -88,5 +87,4 @@ ament_export_dependencies(nav_msgs)
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(sensor_msgs)
 ament_export_dependencies(tf2)
-ament_export_dependencies(turtlebot3)
 ament_package()
diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml
index c6f691e..2aac8f3 100644
--- a/turtlebot3_gazebo/package.xml
+++ b/turtlebot3_gazebo/package.xml
@@ -21,7 +21,7 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
-  <depend>turtlebot3</depend>
+  <exec_depend>turtlebot3_description</exec_depend>
   <export>
     <build_type>ament_cmake</build_type>
     <gazebo_ros gazebo_model_path="${prefix}/models"/>

From 3e75bb5e66fb2d4c68c0177bb6980bc709fdfcb4 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Fri, 2 Apr 2021 21:23:16 -0700
Subject: [PATCH 3/3] Update required keyword argument for launch files

---
 turtlebot3_fake_node/launch/rviz2.launch.py                | 4 ++--
 turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py | 6 +++---
 turtlebot3_gazebo/launch/robot_state_publisher.launch.py   | 4 ++--
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/turtlebot3_fake_node/launch/rviz2.launch.py b/turtlebot3_fake_node/launch/rviz2.launch.py
index e54c5b6..e68bf6c 100644
--- a/turtlebot3_fake_node/launch/rviz2.launch.py
+++ b/turtlebot3_fake_node/launch/rviz2.launch.py
@@ -31,8 +31,8 @@ def generate_launch_description():
     return LaunchDescription([
         Node(
             package='rviz2',
-            node_executable='rviz2',
-            node_name='rviz2',
+            executable='rviz2',
+            name='rviz2',
             arguments=['-d', rviz_config_dir],
             output='screen'),
     ])
diff --git a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py
index 60f717a..68cbee7 100644
--- a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py
+++ b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py
@@ -62,14 +62,14 @@ def generate_launch_description():
 
         Node(
             package='turtlebot3_fake_node',
-            node_executable='turtlebot3_fake_node',
+            executable='turtlebot3_fake_node',
             parameters=[param_dir],
             output='screen'),
 
         Node(
             package='robot_state_publisher',
-            node_executable='robot_state_publisher',
-            node_name='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
             output='screen',
             parameters=[{'use_sim_time': use_sim_time}],
             arguments=[urdf]),
diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
index d5e6116..938669c 100644
--- a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
+++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
@@ -46,8 +46,8 @@ def generate_launch_description():
 
         Node(
             package='robot_state_publisher',
-            node_executable='robot_state_publisher',
-            node_name='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
             output='screen',
             parameters=[{'use_sim_time': use_sim_time}],
             arguments=[urdf]),