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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

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af356bf
remove usv bridge
iche033 Sep 28, 2022
368e952
remove arm, gripper, fixed wing references
iche033 Sep 28, 2022
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remove usv bridge 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
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@iche033
iche033 committed Sep 28, 2022
commit af356bf58b00abd21628da9d99f8b5d0d13c7b02
4 changes: 0 additions & 4 deletions vrx_gz/src/vrx_gz/model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -122,10 +122,6 @@ def bridges(self, world_name):
vrx_gz.bridges.thrust_joint_pos(self.model_name, 'left'),
vrx_gz.bridges.thrust_joint_pos(self.model_name, 'right'),
])
nodes.append(Node(
package='vrx_ros',
executable='usv_bridge',
))

if self.has_valid_arm():
# arm joint states
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14 changes: 0 additions & 14 deletions vrx_ros/CMakeLists.txt
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Expand Up @@ -5,12 +5,9 @@ project(vrx_ros)
find_package(ament_cmake REQUIRED)

find_package(geometry_msgs REQUIRED)
find_package(gz-math7 REQUIRED)
set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
find_package(gz-msgs9 REQUIRED)
find_package(gz-transport12 REQUIRED)
set(GZ_TRANSPORT_VER ${gz-transport12_VERSION_MAJOR})
find_package(mavros_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(ros_gz_interfaces REQUIRED)
find_package(rosgraph_msgs REQUIRED)
Expand All @@ -37,21 +34,10 @@ ament_target_dependencies(pose_tf_broadcaster
tf2_msgs
)

add_executable(usv_bridge src/usv_bridge.cc)
ament_target_dependencies(usv_bridge
PUBLIC
rclcpp
std_msgs
)
target_link_libraries(usv_bridge PUBLIC
gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
)

# Resources
install(TARGETS
optical_frame_publisher
pose_tf_broadcaster
usv_bridge
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY
launch
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150 changes: 0 additions & 150 deletions vrx_ros/src/usv_bridge.cc
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