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[Garden] Remove code for spawning arm, gripper, and fixed wing #519

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merged 2 commits into from
Sep 28, 2022
Merged

[Garden] Remove code for spawning arm, gripper, and fixed wing #519

merged 2 commits into from
Sep 28, 2022

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iche033
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@iche033 iche033 commented Sep 28, 2022

  • Removed code in bridge and spawn scripts related to arm, gripper, and fixed wing
  • Removed usv_bridge: this is MBZIRC-specific. It was used to provide hardware interface topics for controlling USV
  • Removed stream_status topic: this is also MBZIRC-specific
  • Removed mavros_msgs dependency in cmake as it's not currently used

I'm able to control the wam-v through gz topics, e.g.

gz topic -t "/wamv/thrusters/right/pos" -m ignition.msgs.Double -p "data: -1.0"
gz topic -t "/model/wamv/joint/left_engine_propeller_joint/cmd_thrust" -m ignition.msgs.Double -p "data: 50.0"

However, the ROS2 topics are not working for me (in gazebosim branch as well). Looks like the topics being bridged are not correct. I'll fix this in a follow up PR

@iche033
remove usv bridge
af356bf 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
remove arm, gripper, fixed wing references
368e952 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
caguero
caguero approved these changes Sep 28, 2022
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Works for me!

@iche033 iche033 merged commit a65c930 into gazebosim Sep 28, 2022
@iche033 iche033 mentioned this pull request Sep 28, 2022
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caguero commented Oct 4, 2022

Part of #514 .

@caguero caguero deleted the infra_cleanup branch January 5, 2023 21:22
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@caguero caguero caguero approved these changes

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@iche033 @caguero