From 88a9b244c437d99f866edd511c7c0611bd4146ee Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 20 Mar 2023 02:00:22 -0300
Subject: [PATCH] Remove q2d_teleop_rviz.launch.xml and
 q2d_teleop_tabled.launch.xml and use the nodes directly.

---
 q2d_teleop/launch/display.launch.xml           |  8 ++++----
 q2d_teleop/launch/gazebo.launch.xml            | 10 +++++-----
 q2d_teleop/launch/q2d_teleop_rviz.launch.xml   | 27 --------------------------
 q2d_teleop/launch/q2d_teleop_tablet.launch.xml | 27 --------------------------
 4 files changed, 9 insertions(+), 63 deletions(-)
 delete mode 100644 q2d_teleop/launch/q2d_teleop_rviz.launch.xml
 delete mode 100644 q2d_teleop/launch/q2d_teleop_tablet.launch.xml

diff --git a/q2d_teleop/launch/display.launch.xml b/q2d_teleop/launch/display.launch.xml
index 04effa4..e178be0 100644
--- a/q2d_teleop/launch/display.launch.xml
+++ b/q2d_teleop/launch/display.launch.xml
@@ -1,7 +1,7 @@
 <!--
   q2d_teleop: A ROS 2 package node to teloperate the Quanser 2DSFJE robot.
   
-  Copyright (c) 2018, 2019, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+  Copyright (c) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
 
     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
@@ -23,7 +23,7 @@
 -->
 
 <launch>
-        <include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml" />
-	<node pkg="tf2_ros" exec="static_transform_publisher" name="q2d_origin_publisher" args="0 0 0 0 0 0 1 map origin_link" />
-        <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share q2d_teleop)/config/display.rviz" />
+	<include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml"/>
+	<node pkg="tf2_ros" exec="static_transform_publisher" name="q2d_origin_publisher" args="--frame-id map --child-frame-id origin_link"/>
+	<node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share q2d_teleop)/config/display.rviz"/>
 </launch>
diff --git a/q2d_teleop/launch/gazebo.launch.xml b/q2d_teleop/launch/gazebo.launch.xml
index 22703c9..cc3cdfa 100644
--- a/q2d_teleop/launch/gazebo.launch.xml
+++ b/q2d_teleop/launch/gazebo.launch.xml
@@ -1,7 +1,7 @@
 <!--
   q2d_teleop: A ROS 2 package node to teloperate the Quanser 2DSFJE robot.
   
-  Copyright (c) 2018, 2019, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+  Copyright (c) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
 
     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
@@ -30,11 +30,11 @@
 		<arg name="ignition" value="$(var ignition)"/>
 	</include>
 
-  	<include file="$(find-pkg-share q2d_teleop)/launch/q2d_teleop_tablet.launch.xml"/>
+	<node name="q2d_teleop_tablet" pkg="q2d_teleop" exec="q2d_teleop_tablet"/>
 
-  	<include file="$(find-pkg-share q2d_teleop)/launch/q2d_teleop_rviz.launch.xml"/>
+	<node name="q2d_teleop_rviz" pkg="q2d_teleop" exec="q2d_teleop_rviz"/>
 
-  	<include file="$(find-pkg-share q2d_teleop)/launch/display.launch.xml"/>
+	<include file="$(find-pkg-share q2d_teleop)/launch/display.launch.xml"/>
 
-  	<include file="$(find-pkg-share gfxtablet_ros)/launch/gfxtablet.launch.xml"/>
+	<include file="$(find-pkg-share gfxtablet_ros)/launch/gfxtablet.launch.xml"/>
 </launch>
diff --git a/q2d_teleop/launch/q2d_teleop_rviz.launch.xml b/q2d_teleop/launch/q2d_teleop_rviz.launch.xml
deleted file mode 100644
index 70bd272..0000000
--- a/q2d_teleop/launch/q2d_teleop_rviz.launch.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<!--
-  q2d_teleop: A ROS 2 package node to teloperate the Quanser 2DSFJE robot.
-  
-  Copyright (c) 2018, 2019, 2021 Walter Fetter Lages <w.fetter@ieee.org>
-
-    This program is free software; you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation; either version 2 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program; if not, write to the Free Software
-    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
-    You can also obtain a copy of the GNU General Public License
-    at <http://www.gnu.org/licenses>.
-
--->
-
-<launch>
-	<node name="q2d_teleop_rviz" pkg="q2d_teleop" exec="q2d_teleop_rviz" />
-</launch>
diff --git a/q2d_teleop/launch/q2d_teleop_tablet.launch.xml b/q2d_teleop/launch/q2d_teleop_tablet.launch.xml
deleted file mode 100644
index 4fd4242..0000000
--- a/q2d_teleop/launch/q2d_teleop_tablet.launch.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<!--
-  q2d_teleop: A ROS 2 package node to teloperate the Quanser 2DSFJE robot.
-  
-  Copyright (c) 2018, 2019, 2021 Walter Fetter Lages <w.fetter@ieee.org>
-
-    This program is free software; you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation; either version 2 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program; if not, write to the Free Software
-    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-
-    You can also obtain a copy of the GNU General Public License
-    at <http://www.gnu.org/licenses>.
-
--->
-
-<launch>
-	<node name="q2d_teleop_tablet" pkg="q2d_teleop" exec="q2d_teleop_tablet" />
-</launch>
-- 
2.12.0