From 870a1dec974667e3d002f952c18723ef15323180 Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Fri, 11 Oct 2024 12:31:16 -0700 Subject: [PATCH] removed ardusub_manager deps --- extras/repos/dave.jazzy.repos | 4 -- .../config/ardusub/ardusub_manager.yaml | 7 ---- .../config/bluerov2/robot_config.py | 38 +------------------ .../config/bluerov2_heavy/robot_config.py | 38 +------------------ .../config/{ardusub => mavros}/mavros.yaml | 0 5 files changed, 2 insertions(+), 85 deletions(-) delete mode 100644 models/dave_robot_models/config/ardusub/ardusub_manager.yaml rename models/dave_robot_models/config/{ardusub => mavros}/mavros.yaml (100%) diff --git a/extras/repos/dave.jazzy.repos b/extras/repos/dave.jazzy.repos index 9a3f650f..575954c9 100644 --- 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 deleted file mode 100644 index b1cae256..00000000 --- a/models/dave_robot_models/config/ardusub/ardusub_manager.yaml +++ /dev/null @@ -1,7 +0,0 @@ -ardusub_manager: - ros__parameters: - message_intervals: - ids: [31, 32] - rates: [50.0, 50.0] - set_ekf_origin: true - publish_tf: false diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/dave_robot_models/config/bluerov2/robot_config.py index 1adce7d6..64c0d7af 100644 --- 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 index e87c58eb..28749b9c 100644 --- 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/models/dave_robot_models/config/ardusub/mavros.yaml b/models/dave_robot_models/config/mavros/mavros.yaml similarity index 100% rename from models/dave_robot_models/config/ardusub/mavros.yaml rename to models/dave_robot_models/config/mavros/mavros.yaml