fix: delete old env_manager launch in rbs_bringup and rbs_simulation

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",

rbs_simulation/launch/get_urdf.launch.py

@@ -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()

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,

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)

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",