From a8480b290a86fdc0464fb284f00658ce140ad454 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Tue, 8 Oct 2024 16:41:40 +0300 Subject: [PATCH] fix: delete old env_manager launch in rbs_bringup and rbs_simulation --- rbs_bringup/launch/rbs_robot.launch.py | 5 --- rbs_simulation/launch/get_urdf.launch.py | 32 ------------------- rbs_simulation/launch/simulation.launch.py | 12 +------ .../launch/simulation_gazebo.launch.py | 16 +--------- .../launch/simulation_spawn.launch.py | 2 +- 5 files changed, 3 insertions(+), 64 deletions(-) delete mode 100644 rbs_simulation/launch/get_urdf.launch.py diff --git a/rbs_bringup/launch/rbs_robot.launch.py b/rbs_bringup/launch/rbs_robot.launch.py index b2ed6c6..105cfa4 100644 --- a/rbs_bringup/launch/rbs_robot.launch.py +++ b/rbs_bringup/launch/rbs_robot.launch.py @@ -386,11 +386,6 @@ def generate_launch_description(): "sim_gazebo", default_value="true", description="Gazebo Simulation" ) ) - declared_arguments.append( - DeclareLaunchArgument( - "env_manager", default_value="true", description="Launch env_manager?" - ) - ) declared_arguments.append( DeclareLaunchArgument( "launch_sim", diff --git a/rbs_simulation/launch/get_urdf.launch.py b/rbs_simulation/launch/get_urdf.launch.py deleted file mode 100644 index 43de4a4..0000000 --- a/rbs_simulation/launch/get_urdf.launch.py +++ /dev/null @@ -1,32 +0,0 @@ -import os -import xacro -import launch -import launch_ros.actions -from ament_index_python.packages import get_package_share_directory - - -def generate_launch_description(): - - initial_joint_controllers_file_path = os.path.join( - get_package_share_directory('ur_moveit_config'), 'config', 'ur_controllers.yaml' - ) - - doc = xacro.process_file(os.path.join(get_package_share_directory("ur_description"), 'urdf', 'ur.urdf.xacro'), mappings={ - "safety_limits": "true", - "safety_pos_margin": "0.15", - "safety_k_position": "20", - "name": "ur", - "ur_type": "ur5e", - "tf_prefix": "", - "sim_mujoco": "true", - "simulation_controllers": str(initial_joint_controllers_file_path), - "with_gripper": "true" - }) - - robot_desc = doc.toprettyxml(indent=' ') - part1, part2 = robot_desc.split('?>') - m_encoding = 'UTF-8' - with open("current.urdf", 'w') as xfile: - xfile.write(part1 + 'encoding=\"{}\"?>\n'.format(m_encoding) + part2) - xfile.close() - return launch.LaunchDescription() diff --git a/rbs_simulation/launch/simulation.launch.py b/rbs_simulation/launch/simulation.launch.py index f726413..7932e03 100644 --- a/rbs_simulation/launch/simulation.launch.py +++ b/rbs_simulation/launch/simulation.launch.py @@ -22,15 +22,10 @@ def generate_launch_description(): choices=["rbs_arm" ,"ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"], default_value="rbs_arm",) ) - declared_arguments.append( - DeclareLaunchArgument("env_manager", - default_value="false", - description="Launch env_manager?") - ) declared_arguments.append( DeclareLaunchArgument("gazebo_gui", default_value="true", - description="Launch env_manager?") + description="Launch gazebo_gui?") ) declared_arguments.append( DeclareLaunchArgument("debugger", @@ -45,7 +40,6 @@ def generate_launch_description(): sim_gazebo = LaunchConfiguration("sim_gazebo") rbs_robot_type = LaunchConfiguration("rbs_robot_type") - env_manager_cond = LaunchConfiguration("env_manager") gazebo_gui = LaunchConfiguration("gazebo_gui") debugger = LaunchConfiguration("debugger") vision_bridge = LaunchConfiguration("vision_bridge") @@ -89,9 +83,6 @@ def generate_launch_description(): '-topic', '/robot_description'], output='screen', condition=IfCondition(sim_gazebo)) - env_manager = Node(package="env_manager", - executable="run_env_manager", - condition=IfCondition(env_manager_cond)) # Bridge rgbd_bridge_out = Node( @@ -129,7 +120,6 @@ def generate_launch_description(): gazebo, gazebo_server, gazebo_spawn_robot, - env_manager, rgbd_bridge_out, rgbd_bridge_in, clock_bridge, diff --git a/rbs_simulation/launch/simulation_gazebo.launch.py b/rbs_simulation/launch/simulation_gazebo.launch.py index 8c70fb4..997d075 100644 --- a/rbs_simulation/launch/simulation_gazebo.launch.py +++ b/rbs_simulation/launch/simulation_gazebo.launch.py @@ -19,18 +19,13 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument("gazebo_gui", default_value="false", - description="Launch env_manager?") + description="Launch gazebo_gui?") ) declared_arguments.append( DeclareLaunchArgument("debugger", default_value="false", description="launch Gazebo with debugger?") ) - declared_arguments.append( - DeclareLaunchArgument("launch_env_manager", - default_value="true", - description="Launch env_manager?") - ) declared_arguments.append( DeclareLaunchArgument("rgbd_camera", default_value="true", @@ -41,7 +36,6 @@ def generate_launch_description(): gazebo_gui = LaunchConfiguration("gazebo_gui") debugger = LaunchConfiguration("debugger") rgbd_camera = LaunchConfiguration("rgbd_camera") - launch_env_manager = LaunchConfiguration("launch_env_manager") gazebo_world_filename = LaunchConfiguration("gazebo_world_filename") world_config_file = PathJoinSubstitution( @@ -67,13 +61,6 @@ def generate_launch_description(): }.items(), condition=IfCondition(gazebo_gui)) - env_manager = Node( - package="env_manager", - executable="run_env_manager", - parameters=[{'use_sim_time': True}], - condition=IfCondition(launch_env_manager) - ) - rgbd_sensor_bridge = Node( package="ros_gz_bridge", executable="parameter_bridge", @@ -102,6 +89,5 @@ def generate_launch_description(): gazebo_server, clock_bridge, rgbd_sensor_bridge, - env_manager ] return LaunchDescription(declared_arguments + nodes_to_start) diff --git a/rbs_simulation/launch/simulation_spawn.launch.py b/rbs_simulation/launch/simulation_spawn.launch.py index 73bfe4f..f8f56d0 100644 --- a/rbs_simulation/launch/simulation_spawn.launch.py +++ b/rbs_simulation/launch/simulation_spawn.launch.py @@ -50,7 +50,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument("gazebo_gui", default_value="true", - description="Launch env_manager?") + description="Launch gazebo_gui?") ) declared_arguments.append( DeclareLaunchArgument("namespace",