Revert "fix?"

This reverts commit 4284a00.
kroshu · Dec 19, 2024 · 40b7432 · 40b7432
1 parent 8435ccb
commit 40b7432
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Showing 3 changed files with 0 additions and 27 deletions.
diff --git a/kuka_iiqka_eac_driver/launch/startup_with_rviz.launch.py b/kuka_iiqka_eac_driver/launch/startup_with_rviz.launch.py
@@ -35,12 +35,6 @@ def generate_launch_description():
         ),
     )
 
-    robot_description_kinematics = {
-        "robot_description_kinematics": {
-            "manipulator": {"kinematics_solver": "kdl_kinematics_plugin/KDLKinematicsPlugin"}
-        }
-    }
-
     startup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
@@ -57,9 +51,6 @@ def generate_launch_description():
                 name="rviz2",
                 output="log",
                 arguments=["-d", rviz_config, "--ros-args", "--log-level", "error"],
-                parameters=[
-                    robot_description_kinematics,
-                ],
             ),
         ]
     )
diff --git a/kuka_kss_rsi_driver/launch/startup_with_rviz.launch.py b/kuka_kss_rsi_driver/launch/startup_with_rviz.launch.py
@@ -35,12 +35,6 @@ def generate_launch_description():
         ),
     )
 
-    robot_description_kinematics = {
-        "robot_description_kinematics": {
-            "manipulator": {"kinematics_solver": "kdl_kinematics_plugin/KDLKinematicsPlugin"}
-        }
-    }
-
     startup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [get_package_share_directory("kuka_kss_rsi_driver"), "/launch/startup.launch.py"]
@@ -57,9 +51,6 @@ def generate_launch_description():
                 name="rviz2",
                 output="log",
                 arguments=["-d", rviz_config, "--ros-args", "--log-level", "error"],
-                parameters=[
-                    robot_description_kinematics,
-                ],
             ),
         ]
     )
diff --git a/kuka_sunrise_fri_driver/launch/startup_with_rviz.launch.py b/kuka_sunrise_fri_driver/launch/startup_with_rviz.launch.py
@@ -36,12 +36,6 @@ def generate_launch_description():
         ),
     )
 
-    robot_description_kinematics = {
-        "robot_description_kinematics": {
-            "manipulator": {"kinematics_solver": "kdl_kinematics_plugin/KDLKinematicsPlugin"}
-        }
-    }
-
     startup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [get_package_share_directory("kuka_sunrise_fri_driver"), "/launch/startup.launch.py"]
@@ -58,9 +52,6 @@ def generate_launch_description():
                 name="rviz2",
                 output="log",
                 arguments=["-d", rviz_config, "--ros-args", "--log-level", "error"],
-                parameters=[
-                    robot_description_kinematics,
-                ],
             ),
         ]
     )