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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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16
rbs_simulation/launch/simulation_gazebo.launch.py
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@ -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)