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fix: delete old env_manager launch in rbs_bringup and rbs_simulation

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This commit is contained in:
Ilya Uraev 2024-10-08 16:41:40 +03:00
parent ec604bccb8
commit a8480b290a
5 changed files with 3 additions and 64 deletions
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12
rbs_simulation/launch/simulation.launch.py
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@ -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,