From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 8 Sep 2020 07:21:57 +0000 (-0300)
Subject: Move config and launch files to twil_bringup.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=e42715633b977c87848215036c04c1ff8158cf85;p=nonsmooth_backstep_controller.git

Move config and launch files to twil_bringup.
---

diff --git a/config/nonsmooth_backstep_controller.yaml b/config/nonsmooth_backstep_controller.yaml
deleted file mode 120000
index 2bfa2ed..0000000
--- a/config/nonsmooth_backstep_controller.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 cd3137d..0000000
--- a/config/twil.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-# Watch-out: The indentation here is relevant to the semantic!
-
-joint_state_controller:
-  type: joint_state_controller/JointStateController
-  publish_rate: 100
-
-nonsmooth_backstep_controller:
-  type: effort_controllers/NonSmoothBackstepController
-  joints:
-    - left_wheel_joint
-    - right_wheel_joint
-  F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
-  G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
-  lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
-  gamma: [10.0, 1.0, 10.0, 50.0]
-  wheel_separation: 0.322
-  wheel_radius: [0.075, 0.075]
-  odom_frame_id: "odom"
-  base_frame_id: "twil_origin"
-  priority: 99
-  time_step: 0.01
diff --git a/config/twil_step.yaml b/config/twil_step.yaml
deleted file mode 100644
index 7a11ee2..0000000
--- a/config/twil_step.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-# Watch-out: The indentation here is relevant to the semantic!
-
-joint_state_controller:
-  type: joint_state_controller/JointStateController
-  publish_rate: 100
-
-nonsmooth_backstep_controller:
-  type: effort_controllers/NonSmoothBackstepController
-  joints:
-    - left_wheel_joint
-    - right_wheel_joint
-  F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
-  G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
-  lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
-  gamma: [10.0, 1.0, 10.0, 50.0]
-  wheel_separation: 0.322
-  wheel_radius: [0.075, 0.075]
-  odom_frame_id: "odom"
-  base_frame_id: "twil_origin"
-  priority: 99
-  time_step: 0.01
diff --git a/launch/adaptive_nonsmooth_backstep.launch b/launch/adaptive_nonsmooth_backstep.launch
deleted file mode 100644
index 11e443c..0000000
--- a/launch/adaptive_nonsmooth_backstep.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
-  <node name="ident" pkg="twil_ident" type="ident" output="screen">
-	<remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
-  </node>
-
-</launch>
diff --git a/launch/gazebo.launch b/launch/gazebo.launch
deleted file mode 100644
index c6c00d3..0000000
--- a/launch/gazebo.launch
+++ /dev/null
@@ -1,16 +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"/>
-
-	<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" />
-
-</launch>
diff --git a/launch/gazebo8.launch b/launch/gazebo8.launch
deleted file mode 100644
index a6869f7..0000000
--- a/launch/gazebo8.launch
+++ /dev/null
@@ -1,26 +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_publisher" args="0 0 0 0 0 0 1 map odom" />
-
-  <include file="$(find twil_description)/launch/display.launch" />
-
-</launch>
diff --git a/launch/nonsmooth_backstep.launch b/launch/nonsmooth_backstep.launch
deleted file mode 100644
index bb61f47..0000000
--- a/launch/nonsmooth_backstep.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <rosparam file="$(find nonsmooth_backstep_controller)/config/nonsmooth_backstep_controller.yaml" command="load"/>
-
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller nonsmooth_backstep_controller"/>
-</launch>