remove zero cmd vel node

RoboJackets · Nov 4, 2024 · 27b2a06 · 27b2a06
1 parent e03a5a6
commit 27b2a06
Show file tree

Hide file tree

Showing 4 changed files with 0 additions and 62 deletions.
diff --git a/urc_bringup/launch/bringup_simulation.launch.py b/urc_bringup/launch/bringup_simulation.launch.py
@@ -129,12 +129,6 @@ def generate_launch_description():
         remappings=[("/cmd_vel_out", "/rover_drivetrain_controller/cmd_vel")],
     )
 
-    zero_cmd_vel_node = Node(
-        package="urc_platform",
-        executable="urc_platform_ZeroCmdVelNode",
-        output="screen",
-    )
-
     # ekf_launch = IncludeLaunchDescription(
     #     PythonLaunchDescriptionSource(
     #         [FindPackageShare("urc_localization"),
@@ -224,7 +218,6 @@ def generate_launch_description():
                     ],
                 )
             ),
-            zero_cmd_vel_node,
             enable_color,
             gazebo,
             load_robot_state_publisher,

diff --git a/urc_platform/CMakeLists.txt b/urc_platform/CMakeLists.txt
@@ -19,7 +19,6 @@ include_directories(
 # Library creation
 add_library(${PROJECT_NAME} SHARED
   src/joystick_driver.cpp
-  src/zero_cmd_vel_node.cpp
 )
 
 set(dependencies
@@ -42,12 +41,6 @@ rclcpp_components_register_node(
   EXECUTABLE ${PROJECT_NAME}_JoystickDriver
 )
 
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "zero_cmd_vel_node::ZeroCmdVelNode"
-  EXECUTABLE ${PROJECT_NAME}_ZeroCmdVelNode
-)
-
 # Install launch files.
 install(
   DIRECTORY

diff --git a/urc_platform/include/zero_cmd_vel_node.hpp b/urc_platform/include/zero_cmd_vel_node.hpp
diff --git a/urc_platform/src/zero_cmd_vel_node.cpp b/urc_platform/src/zero_cmd_vel_node.cpp