removed ardusub_manager deps

IOES-Lab · Oct 11, 2024 · 870a1de · 870a1de
1 parent 055dd6e
commit 870a1de
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Showing 5 changed files with 2 additions and 85 deletions.
diff --git a/extras/repos/dave.jazzy.repos b/extras/repos/dave.jazzy.repos
@@ -14,7 +14,3 @@ repositories:
     url: https://github.com/IOES-Lab/dave.git
     version: ros2
 
-  ardusub_driver:
-    type: git
-    url: https://github.com/Robotic-Decision-Making-Lab/ardusub_driver.git
-    version: main
diff --git a/models/dave_robot_models/config/ardusub/ardusub_manager.yaml b/models/dave_robot_models/config/ardusub/ardusub_manager.yaml
diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py
@@ -3,12 +3,10 @@
     DeclareLaunchArgument,
     OpaqueFunction,
     ExecuteProcess,
-    IncludeLaunchDescription,
 )
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def launch_setup(context, *args, **kwargs):
@@ -66,28 +64,6 @@ def launch_setup(context, *args, **kwargs):
 
     processes = [ardusub_process]
 
-    # ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
-
-    # # Include the ardusub_manager launch file
-    # ardusub_manager = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         [
-    #             PathJoinSubstitution(
-    #                 [
-    #                     FindPackageShare("ardusub_manager"),
-    #                     "launch",
-    #                     "ardusub_manager.launch.py",
-    #                 ]
-    #             )
-    #         ]
-    #     ),
-    #     launch_arguments={
-    #         "ardusub_manager_file": ardusub_manager_file,
-    #     }.items(),
-    # )
-
-    # includes = [ardusub_manager]
-
     return nodes + processes
 
 
@@ -101,7 +77,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mavros_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("dave_robot_models"), "config", "ardusub", "mavros.yaml"]
+                [FindPackageShare("dave_robot_models"), "config", "mavros", "mavros.yaml"]
             ),
             description="Path to mavros.yaml file",
         ),
@@ -112,18 +88,6 @@ def generate_launch_description():
             ),
             description="Path to ardusub.parm file",
         ),
-        DeclareLaunchArgument(
-            "ardusub_manager_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("dave_robot_models"),
-                    "config",
-                    "ardusub",
-                    "ardusub_manager.yaml",
-                ]
-            ),
-            description="Path to ardusub_manager.yaml file",
-        ),
     ]
 
     return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/dave_robot_models/config/bluerov2_heavy/robot_config.py
@@ -3,12 +3,10 @@
     DeclareLaunchArgument,
     OpaqueFunction,
     ExecuteProcess,
-    IncludeLaunchDescription,
 )
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def launch_setup(context, *args, **kwargs):
@@ -66,28 +64,6 @@ def launch_setup(context, *args, **kwargs):
 
     processes = [ardusub_process]
 
-    # ardusub_manager_file = LaunchConfiguration("ardusub_manager_file")
-
-    # # Include the ardusub_manager launch file
-    # ardusub_manager = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         [
-    #             PathJoinSubstitution(
-    #                 [
-    #                     FindPackageShare("ardusub_manager"),
-    #                     "launch",
-    #                     "ardusub_manager.launch.py",
-    #                 ]
-    #             )
-    #         ]
-    #     ),
-    #     launch_arguments={
-    #         "ardusub_manager_file": ardusub_manager_file,
-    #     }.items(),
-    # )
-
-    # includes = [ardusub_manager]
-
     return nodes + processes
 
 
@@ -101,7 +77,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "mavros_file",
             default_value=PathJoinSubstitution(
-                [FindPackageShare("dave_robot_models"), "config", "ardusub", "mavros.yaml"]
+                [FindPackageShare("dave_robot_models"), "config", "mavros", "mavros.yaml"]
             ),
             description="Path to mavros.yaml file",
         ),
@@ -112,18 +88,6 @@ def generate_launch_description():
             ),
             description="Path to ardusub.parm file",
         ),
-        DeclareLaunchArgument(
-            "ardusub_manager_file",
-            default_value=PathJoinSubstitution(
-                [
-                    FindPackageShare("dave_robot_models"),
-                    "config",
-                    "ardusub",
-                    "ardusub_manager.yaml",
-                ]
-            ),
-            description="Path to ardusub_manager.yaml file",
-        ),
     ]
 
     return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/...e_robot_models/config/ardusub/mavros.yaml → ...ve_robot_models/config/mavros/mavros.yaml b/...e_robot_models/config/ardusub/mavros.yaml → ...ve_robot_models/config/mavros/mavros.yaml