From 608779e6b8e6e0f6c1013924fafcd70a480190aa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 22 Aug 2023 09:07:33 +0200
Subject: [PATCH] rviz launch file

---
 launch/robot_localization.launch.py | 104 +---------------------------
 1 file changed, 1 insertion(+), 103 deletions(-)

diff --git a/launch/robot_localization.launch.py b/launch/robot_localization.launch.py
index 92c4f5d..351ee1d 100644
--- a/launch/robot_localization.launch.py
+++ b/launch/robot_localization.launch.py
@@ -24,100 +24,7 @@ from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_rmp220_support"),
-                    "description",
-                    "robot.urdf.xacro"
-                ]
-            ),
-        ]
-    )
-    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
-
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare("cps_rmp220_support"),
-            "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",
-        output="both",
-        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"
-    )
-
-    use_sim_time = False
-    slam_params_file = PathJoinSubstitution(
-                [
-                    FindPackageShare("cps_rmp220_support"),
-                    "config",
-                    "mapper_params_online_async.yaml"
-                ]
-            )
-    mapper_node = Node(
-        package="slam_toolbox",
-        executable="async_slam_toolbox_node",
-        name='slam_toolbox_node',
-        output='screen',
-        parameters=[
-            slam_params_file,
-            {'use_sim_time': use_sim_time}
-        ],
-    )
-
-    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],
-    )
-
+    
     robot_localization_node = Node(
        package='robot_localization',
        executable='ekf_node',
@@ -135,14 +42,5 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        #control_node,
-        #robot_state_pub_node,
-        #joint_state_broadcaster_spawner,
-        #robot_controller_spawner,
-        #joystick_spawner,
-        #teleop_spawner,
-        #cam_node,
-        #lidar_node,
-        #mapper_node,
         robot_localization_node
     ])
\ No newline at end of file