From 39c6214c48e31c6501001955020fba75f03bdfdd Mon Sep 17 00:00:00 2001 From: Aldokan Date: Mon, 8 Apr 2024 18:57:42 +0200 Subject: [PATCH] deleted files --- asv_setup/launch/ASV_simulator.launch.py | 35 ---------- asv_setup/launch/freya.launch.py | 34 ---------- asv_setup/launch/hybridpath.launch.py | 25 -------- asv_setup/launch/shoreside.launch.py | 42 ------------ asv_setup/launch/tf.launch.py | 81 ------------------------ 5 files changed, 217 deletions(-) delete mode 100644 asv_setup/launch/ASV_simulator.launch.py delete mode 100644 asv_setup/launch/freya.launch.py delete mode 100644 asv_setup/launch/hybridpath.launch.py delete mode 100644 asv_setup/launch/shoreside.launch.py delete mode 100644 asv_setup/launch/tf.launch.py diff --git a/asv_setup/launch/ASV_simulator.launch.py b/asv_setup/launch/ASV_simulator.launch.py deleted file mode 100644 index a68b94c7..00000000 --- a/asv_setup/launch/ASV_simulator.launch.py +++ /dev/null @@ -1,35 +0,0 @@ -import os -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory - -def generate_launch_description(): - # LQR_controller launch - lqr_controller_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory('lqr_controller'), 'launch/lqr_controller.launch.py') - ) - ) - - # LOS_guidance launch - los_guidance_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory('los_guidance'), 'launch/los_guidance.launch.py') - ) - ) - - # Vessel_simulator launch - vessel_simulator_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory('vessel_simulator'), 'launch/vessel_simulator.launch.py') - ) - ) - - # Return launch description - return LaunchDescription([ - lqr_controller_launch, - los_guidance_launch, - vessel_simulator_launch - ]) \ No newline at end of file diff --git a/asv_setup/launch/freya.launch.py b/asv_setup/launch/freya.launch.py deleted file mode 100644 index f9b3ec16..00000000 --- a/asv_setup/launch/freya.launch.py +++ /dev/null @@ -1,34 +0,0 @@ -from os import path -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory - -def generate_launch_description(): - # Set environment variable - set_env_var = SetEnvironmentVariable( - name='ROSCONSOLE_FORMAT', - value='[${severity}] [${time}] [${node}]: ${message}' - ) - - # Thruster Allocator launch - thruster_allocator_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - path.join(get_package_share_directory('thruster_allocator'),'launch','thruster_allocator.launch.py') - ) - ) - - #Thruster Interface launch - thruster_interface_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - path.join(get_package_share_directory('thruster_interface_asv'),'launch','thruster_interface_asv.launch.py') - ) - ) - - # Return launch description - return LaunchDescription([ - set_env_var, - thruster_allocator_launch, - thruster_interface_launch - ]) diff --git a/asv_setup/launch/hybridpath.launch.py b/asv_setup/launch/hybridpath.launch.py deleted file mode 100644 index 637029d9..00000000 --- a/asv_setup/launch/hybridpath.launch.py +++ /dev/null @@ -1,25 +0,0 @@ -import os -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory - -def generate_launch_description(): - hybridpath_controller_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory('hybridpath_controller'), 'launch/hybridpath_controller.launch.py') - ) - ) - - hybridpath_guidance_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory('hybridpath_guidance'), 'launch/hybridpath_guidance.launch.py') - ) - ) - - # Return launch description - return LaunchDescription([ - hybridpath_controller_launch, - hybridpath_guidance_launch - ]) \ No newline at end of file diff --git a/asv_setup/launch/shoreside.launch.py b/asv_setup/launch/shoreside.launch.py deleted file mode 100644 index 98c62f71..00000000 --- a/asv_setup/launch/shoreside.launch.py +++ /dev/null @@ -1,42 +0,0 @@ -import os -from launch import LaunchDescription -from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory - -def generate_launch_description(): - # Set environment variable - set_env_var = SetEnvironmentVariable( - name='ROSCONSOLE_FORMAT', - value='[${severity}] [${time}] [${node}]: ${message}' - ) - - # Joystick node - joy_node = Node( - package='joy', - executable='joy_node', - name='joystick_driver', - output='screen', - parameters=[ - {'deadzone': 0.15}, - {'autorepeat_rate': 100.0}, - ], - remappings=[ - ('/joy', '/joystick/joy'), - ], - ) - - # Joystick interface launch - joystick_interface_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(get_package_share_directory('joystick_interface'), 'launch/joystick_interface.launch.py') - ) - ) - - # Return launch description - return LaunchDescription([ - set_env_var, - joy_node, - joystick_interface_launch - ]) diff --git a/asv_setup/launch/tf.launch.py b/asv_setup/launch/tf.launch.py deleted file mode 100644 index 47a7de37..00000000 --- a/asv_setup/launch/tf.launch.py +++ /dev/null @@ -1,81 +0,0 @@ -import math - -from launch import LaunchDescription -from launch_ros.actions import Node -from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSDurabilityPolicy, QoSHistoryPolicy -from launch.actions import ExecuteProcess - - -def generate_launch_description(): - # command line arguments to get desired QoS settings - echo_tf_static = ExecuteProcess( - cmd=['ros2', 'topic', 'echo', '--qos-durability', 'transient_local', '--qos-reliability', 'reliable', '/tf_static'], - output='screen' - ) - - # base_link (NED) to base_link (SEU) tf. - tf_base_link_ned_to_base_link_seu = Node( - package='tf2_ros', - name='base_link_ned_to_base_link_seu', - executable='static_transform_publisher', - arguments=['--x' , '0', - '--y' , '0', - '--z' , '0', - '--roll' , '0', - '--pitch' , str(math.pi), - '--yaw' , '0', - '--frame-id' , 'base_link', - '--child-frame-id' , 'base_link_SEU'], - ) - - tf_base_link_to_lidar = Node( - package='tf2_ros', - name='base_link_to_lidar', - executable='static_transform_publisher', - arguments=['--x' , '-0.0145', - '--y' , '0', - '--z' , '-0.392425', - '--roll' , str(math.pi), - '--pitch' , '0', - '--yaw' , str(math.pi), - '--frame-id' , 'base_link', - '--child-frame-id' , 'os_sensor'], - ) - - # base_link to zed2i_camera_center tf. - tf_base_link_to_zed2_camera_center = Node( - package='tf2_ros', - name='base_link_to_zed2_camera_center', - executable='static_transform_publisher', - arguments=['--x' , '0.3005', - '--y' , '0', - '--z' , '-0.22036', - '--roll' , str(math.pi), - '--pitch' , '0', - '--yaw' , '0', - '--frame-id' , 'base_link', - '--child-frame-id' , 'zed2i_camera_center'], - ) - - # base_link (NED) to seapath_frame (NED?) tf. - tf_base_link_ned_to_seapath_frame = Node( - package='tf2_ros', - name='base_link_ned_to_seapath_frame', - executable='static_transform_publisher', - arguments=['--x' , '0', - '--y' , '0', - '--z' , '0', - '--roll' , '0', - '--pitch' , '0', - '--yaw' , '0', - '--frame-id' , 'base_link', - '--child-frame-id' , 'seapath_frame'], - ) - - return LaunchDescription([ - tf_base_link_ned_to_base_link_seu, - tf_base_link_to_lidar, - tf_base_link_to_zed2_camera_center, - tf_base_link_ned_to_seapath_frame, - echo_tf_static - ])