From 1f1e2c85518db8dc63266a4bd722fd776755c59e Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 10 May 2019 05:07:02 -0300
Subject: [PATCH] Move config and launch to twil_bringup.

---
 config/dynamics_linearizing_controller.yaml   |  1 -
 config/twil.yaml                              | 34 ---------------------------
 config/twist_mrac_linearizing_controller.yaml |  1 -
 launch/adaptive_dynamics_linearizing.launch   |  5 ----
 launch/dynamics_linearizing.launch            |  6 -----
 launch/gazebo.launch                          | 17 --------------
 launch/twist_mrac.launch                      |  6 -----
 7 files changed, 70 deletions(-)
 delete mode 120000 config/dynamics_linearizing_controller.yaml
 delete mode 100644 config/twil.yaml
 delete mode 120000 config/twist_mrac_linearizing_controller.yaml
 delete mode 100644 launch/adaptive_dynamics_linearizing.launch
 delete mode 100644 launch/dynamics_linearizing.launch
 delete mode 100644 launch/gazebo.launch
 delete mode 100644 launch/twist_mrac.launch

diff --git a/config/dynamics_linearizing_controller.yaml b/config/dynamics_linearizing_controller.yaml
deleted file mode 120000
index 2bfa2ed..0000000
--- a/config/dynamics_linearizing_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 73c0ad1..0000000
--- a/config/twil.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-# Watch-out: The indentation here is relevant to the semantic!
-
-joint_state_controller:
-  type: joint_state_controller/JointStateController
-  publish_rate: 100
-
-dynamics_linearizing_controller:
-  type: effort_controllers/DynamicsLinearizingController
-  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]
-  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
-
-twist_mrac_linearizing_controller:
-  type: effort_controllers/TwistMracLinearizingController
-  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]
-  Alpha: [10.0, 10.0]
-  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/twist_mrac_linearizing_controller.yaml b/config/twist_mrac_linearizing_controller.yaml
deleted file mode 120000
index 2bfa2ed..0000000
--- a/config/twist_mrac_linearizing_controller.yaml
+++ /dev/null
@@ -1 +0,0 @@
-twil.yaml
\ No newline at end of file
diff --git a/launch/adaptive_dynamics_linearizing.launch b/launch/adaptive_dynamics_linearizing.launch
deleted file mode 100644
index 3d601bf..0000000
--- a/launch/adaptive_dynamics_linearizing.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <node name="ident" pkg="twil_ident" type="ident" output="screen">
-	<remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
-  </node>
-</launch>
diff --git a/launch/dynamics_linearizing.launch b/launch/dynamics_linearizing.launch
deleted file mode 100644
index 122c95c..0000000
--- a/launch/dynamics_linearizing.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <rosparam file="$(find linearizing_controllers)/config/dynamics_linearizing_controller.yaml" command="load"/>
-
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller dynamics_linearizing_controller"/>
-</launch>
diff --git a/launch/gazebo.launch b/launch/gazebo.launch
deleted file mode 100644
index 5aceccb..0000000
--- a/launch/gazebo.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<launch>
-	<arg name="paused" default="true"/>
-	<arg name="headless" default="false"/>
-	<arg name="use_sim_time" default="true"/>
-	<arg name="wam" default="false"/>
-	<arg name="controller" default="twist_mrac"/>
-
-	<include file="$(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="$(find linearizing_controllers)/launch/$(arg controller).launch" />
-
-</launch>
diff --git a/launch/twist_mrac.launch b/launch/twist_mrac.launch
deleted file mode 100644
index 2238629..0000000
--- a/launch/twist_mrac.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-  <rosparam file="$(find linearizing_controllers)/config/twist_mrac_linearizing_controller.yaml" command="load"/>
-
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller twist_mrac_linearizing_controller"/>
-</launch>
-- 
2.12.0