remove extra launch files

kroshu · Sep 18, 2024 · a1cc0ee · a1cc0ee
1 parent 3a69b00
commit a1cc0ee
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Showing 5 changed files with 2 additions and 402 deletions.
diff --git a/...qka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup.launch.py b/...qka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup.launch.py
@@ -16,11 +16,7 @@
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 from moveit_configs_utils import MoveItConfigsBuilder
-from launch.actions.include_launch_description import IncludeLaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.launch_description_sources.python_launch_description_source import (
-    PythonLaunchDescriptionSource,
-)
 from launch.substitutions import LaunchConfiguration
 
 
@@ -86,13 +82,6 @@ def launch_setup(context, *args, **kwargs):
         parameters=[moveit_config.to_dict(), move_group_capabilities],
     )
 
-    startup_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
-        ),
-        launch_arguments={"use_fake_hardware": "true"}.items(),
-    )
-
     # MTC Demo node
     mtc_demo = Node(
         package="kuka_moveit_task_constructor_depalletizing",
@@ -103,7 +92,7 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
-    to_start = [move_group_server, startup_launch, mtc_demo]
+    to_start = [move_group_server, mtc_demo]
 
     return to_start
 

diff --git a/...task_constructor_example/kuka_moveit_task_constructor/launch/startup_standalone.launch.py b/...task_constructor_example/kuka_moveit_task_constructor/launch/startup_standalone.launch.py
diff --git a/..._task_constructor_example/kuka_moveit_task_constructor/launch/startup_with_rviz.launch.py b/..._task_constructor_example/kuka_moveit_task_constructor/launch/startup_with_rviz.launch.py
@@ -16,11 +16,7 @@
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 from moveit_configs_utils import MoveItConfigsBuilder
-from launch.actions.include_launch_description import IncludeLaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.launch_description_sources.python_launch_description_source import (
-    PythonLaunchDescriptionSource,
-)
 from launch.substitutions import LaunchConfiguration
 
 
@@ -104,13 +100,6 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
-    startup_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
-        ),
-        launch_arguments={"use_fake_hardware": "true"}.items(),
-    )
-
     # MTC Demo node
     mtc_demo = Node(
         package="kuka_moveit_task_constructor_depalletizing",
@@ -121,7 +110,7 @@ def launch_setup(context, *args, **kwargs):
         ],
     )
 
-    to_start = [move_group_server, rviz, startup_launch, mtc_demo]
+    to_start = [move_group_server, rviz, mtc_demo]
 
     return to_start
 

diff --git a/...structor_example/kuka_moveit_task_constructor/launch/startup_with_rviz_extended.launch.py b/...structor_example/kuka_moveit_task_constructor/launch/startup_with_rviz_extended.launch.py