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Removed namespaced tf_static #43

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merged 1 commit into from
Jan 18, 2024
Merged

Removed namespaced tf_static #43

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23 changes: 0 additions & 23 deletions clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,25 +166,6 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
namespace=self.namespace,
)

# Static transform from <namespace>/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 <namespace>/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,
Expand Down Expand Up @@ -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()