From 7c5e336efad714ca3ea88921bc2a78b43abd4bc4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 26 Jul 2023 10:39:34 +0200
Subject: [PATCH] update

---
 config/diffbot_controllers.yaml   |  2 +-
 launch/robot_controller.launch.py | 34 +----------------
 launch/rsp.launch.py              | 62 +------------------------------
 3 files changed, 4 insertions(+), 94 deletions(-)

diff --git a/config/diffbot_controllers.yaml b/config/diffbot_controllers.yaml
index 17f680d..eba6cc9 100644
--- a/config/diffbot_controllers.yaml
+++ b/config/diffbot_controllers.yaml
@@ -41,7 +41,7 @@ diffbot_base_controller:
     open_loop: false
     #enable_odom_tf: true #disabled because tf will be handled by robot_localizaion node in the future (imu sensor fusion)
 
-    cmd_vel_timeout: 0.5
+    cmd_vel_timeout: 0.1
     #publish_limited_velocity: true
     use_stamped_vel: false
     velocity_rolling_window_size: 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
diff --git a/launch/robot_controller.launch.py b/launch/robot_controller.launch.py
index 3dbdbb3..a38dec4 100644
--- a/launch/robot_controller.launch.py
+++ b/launch/robot_controller.launch.py
@@ -72,39 +72,9 @@ def generate_launch_description():
         arguments=["diffbot_base_controller", "-c", "/controller_manager"],
     )
 
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop"
-    )
-
-    cam_node = Node(
-        package="ros2_cam_openCV",
-        executable="cam_node"
-    )
-
-    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
-    lidar_node = LifecycleNode(
-        package='lslidar_driver',
-        executable='lslidar_driver_node',
-        name='lslidar_driver_node',
-        output='screen',
-        emulate_tty=True,
-        namespace='',
-        parameters=[lidar_dir],
-    )
-
     return LaunchDescription([
         control_node,
         robot_state_pub_node,
-        joint_state_broadcaster_spawner, #commented out because not needed?
-        robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        #cam_node,
-        #lidar_node
+        joint_state_broadcaster_spawner,
+        robot_controller_spawner
     ])
\ No newline at end of file
diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py
index 4dbe3a5..172569f 100644
--- a/launch/rsp.launch.py
+++ b/launch/rsp.launch.py
@@ -38,21 +38,6 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
 
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare("bot_mini_bringup"),
-            "config",
-            "diffbot_controllers.yaml",
-        ]
-    )
-
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output="both",
-    )
-
     robot_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
@@ -60,51 +45,6 @@ def generate_launch_description():
         parameters=[robot_description],
     )
 
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
-    )
-
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop"
-    )
-
-    cam_node = Node(
-        package="ros2_cam_openCV",
-        executable="cam_node"
-    )
-
-    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
-    lidar_node = LifecycleNode(
-        package='lslidar_driver',
-        executable='lslidar_driver_node',
-        name='lslidar_driver_node',
-        output='screen',
-        emulate_tty=True,
-        namespace='',
-        parameters=[lidar_dir],
-    )
-
     return LaunchDescription([
-        #control_node,
-        robot_state_pub_node,
-        #joint_state_broadcaster_spawner,
-        #robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        #cam_node,
-        #lidar_node
+        robot_state_pub_node
     ])
\ No newline at end of file