From 331fe231ec3970fa817321517e9ce00d2b28dcc3 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Thu, 18 Jan 2024 14:16:18 -0500 Subject: [PATCH] Removed namespaced tf_static --- .../launch/generator.py | 23 ------------------- 1 file changed, 23 deletions(-) diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py index 1e946c2..f549819 100644 --- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py +++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py @@ -166,25 +166,6 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None: namespace=self.namespace, ) - # Static transform from /odom to odom - # See https://github.com/ros-controls/ros2_controllers/pull/533 - self.tf_namespaced_odom_publisher = LaunchFile.get_static_tf_node( - name='namespaced_odom', - namespace=self.namespace, - parent_link='odom', - child_link=f'{self.namespace}/odom', - use_sim_time=False, - ) - - # Static transform from /base_link to base_link - self.tf_namespaced_base_link_publisher = LaunchFile.get_static_tf_node( - name='namespaced_base_link', - namespace=self.namespace, - parent_link=f'{self.namespace}/base_link', - child_link='base_link', - use_sim_time=False, - ) - # Components required for each platform common_platform_components = [ self.wireless_watcher_node, @@ -266,8 +247,4 @@ def generate_platform(self) -> None: for component in self.platform_components[self.platform_model]: platform_service_launch_writer.add(component) - if self.namespace not in ('', '/'): - platform_service_launch_writer.add(self.tf_namespaced_odom_publisher) - platform_service_launch_writer.add(self.tf_namespaced_base_link_publisher) - platform_service_launch_writer.generate_file()