From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 10 May 2019 07:29:02 +0000 (-0300)
Subject: Move config and launch to twil_bringup.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=2da4cdc3869ce56d7bcdb695d0ca5af85397daef;p=arc_odometry.git

Move config and launch to twil_bringup.
---

diff --git a/config/odometry_publisher.yaml b/config/odometry_publisher.yaml
deleted file mode 120000
index 2bfa2ed..0000000
--- a/config/odometry_publisher.yaml
+++ /dev/null
@@ -1 +0,0 @@
-twil.yaml
\ No newline at end of file
diff --git a/config/twil.yaml b/config/twil.yaml
deleted file mode 100644
index c81d863..0000000
--- a/config/twil.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-# Watch-out: The indentation here is relevant to the semantic!
-
-odometry_publisher:
-  wheel_separation: 0.322
-  wheel_radius: [0.075, 0.075]
-  odom_frame_id: "odom"
-  base_frame_id: "twil_origin"
-  publish_rate: 100
-  
\ No newline at end of file
diff --git a/launch/gazebo8.launch b/launch/gazebo8.launch
deleted file mode 100644
index cb90f30..0000000
--- a/launch/gazebo8.launch
+++ /dev/null
@@ -1,30 +0,0 @@
-<launch>
-	<arg name="paused" default="true"/>
-	<arg name="headless" default="false"/>
-	<arg name="use_sim_time" default="true"/>
-	<arg name="wam" default="false"/>
-
-  <remap from="/command" to="/nonsmooth_backstep_controller/command" />
-
-	<include file="$(find twil_description)/launch/gazebo.launch" >
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="headless" value="$(arg headless)"/>
-		<arg name="use_sim_time" value="$(arg use_sim_time)"/>
-		<arg name="wam" value="$(arg wam)"/>
-	</include>
-
-  <include file="$(find nonsmooth_backstep_controller)/launch/nonsmooth_backstep.launch" />
-
-  <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5  _radius:=1.0 _ang_vel:=0.1"/>
-
-  <node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
-
-  <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
-
-  <include file="$(find twil_description)/launch/display.launch" />
-
-  <rosparam file="$(find arc_odometry)/config/odometry_publisher.yaml" command="load"/>
-
-  <node pkg="arc_odometry" type="odometry_publisher" name="odom_publisher" />
-
-</launch>