From 94ec2a02bbbb2e60719a6be979cc78b3ee66439e Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 17 Oct 2015 12:48:31 +0200
Subject: [PATCH] removed move_base

---
 arm.launch                            |  17 ------
 config/base_local_planner_params.yaml |  13 -----
 config/costmap_common_params.yaml     |   9 ----
 config/global_costmap_params.yaml     |   9 ----
 config/local_costmap_params.yaml      |  13 -----
 config/map.png                        | Bin 2236 -> 0 bytes
 move_base.launch                      |  20 -------
 urdf/arm.urdf.xacro                   |  74 --------------------------
 8 files changed, 155 deletions(-)
 delete mode 100644 config/base_local_planner_params.yaml
 delete mode 100644 config/costmap_common_params.yaml
 delete mode 100644 config/global_costmap_params.yaml
 delete mode 100644 config/local_costmap_params.yaml
 delete mode 100644 config/map.png
 delete mode 100644 move_base.launch
 delete mode 100644 urdf/arm.urdf.xacro

diff --git a/arm.launch b/arm.launch
index 877df4c..9e120c7 100644
--- a/arm.launch
+++ b/arm.launch
@@ -1,21 +1,4 @@
 <?xml version="1.0"?>
 <launch>
 	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> 
-
-	<include file="$(find openni2_launch)/launch/openni2.launch">
-		<arg name="rgb_processing" value="false" />
-		<arg name="debayer_processing" value="false" />
-		<arg name="ir_processing" value="false" />
-		<arg name="depth_processing" value="false" />
-		<arg name="depth_registered_processing" value="false" />
-		<arg name="disparity_processing" value="false" />
-		<arg name="disparity_registered_processing" value="false" />
-		<arg name="hw_registered_processing" value="false" />
-		<arg name="sw_registered_processing" value="false" />
-	</include>
-
-	<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
-		<remap from="image" to="/camera/depth/image_raw"/>
-		<remap from="camera_info" to="/camera/depth/camera_info"/>
-	</node>
 </launch>
diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
deleted file mode 100644
index 0db0a91..0000000
--- a/config/base_local_planner_params.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-TrajectoryPlannerROS:
-  max_vel_x: 0.50
-  min_vel_x: 0.10
-  max_vel_theta: 1.0
-  min_vel_theta: -1.0
-  min_in_place_vel_theta: 0.4
-
-  acc_lim_x: 2.5
-  acc_lim_y: 2.5
-  acc_lim_theta: 3.2
-
-  holonomic_robot: false
-  meter_scoring: true
diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
deleted file mode 100644
index 3810429..0000000
--- a/config/costmap_common_params.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-footprint: [ [0.22, 0.11], [-0.08, 0.11], [-0.08, -0.11], [0.22, -0.11] ]
-#robot_radius: 0.15
-inflation_radius: 0.55
-
-obstacle_layer:
-  observation_sources: laser_scan_sensor
-  obstacle_range: 2.5
-  raytrace_range: 3.0
-  laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
deleted file mode 100644
index 483f9fa..0000000
--- a/config/global_costmap_params.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-global_costmap:
-  global_frame: /map
-  robot_base_frame: base_link
-  update_frequency: 5.0
-  static_map: true
-  plugins:
-  - {name: static_layer, type: 'costmap_2d::StaticLayer'}
-  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/config/local_costmap_params.yaml b/config/local_costmap_params.yaml
deleted file mode 100644
index e554765..0000000
--- a/config/local_costmap_params.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-local_costmap:
-  global_frame: odom
-  robot_base_frame: base_link
-  update_frequency: 5.0
-  publish_frequency: 2.0
-  static_map: false
-  rolling_window: true
-  width: 10.0
-  height: 10.0
-  resolution: 0.01
-  plugins:
-  - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
-  - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/config/map.png b/config/map.png
deleted file mode 100644
index edbf44f271eb9fa26d3298689d8af289ef63e2f0..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 2236
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z0|U1(2s1Lwnj--eWH0gbb!ETDBP_-$Bb2z+oq>VF*VDx@q~g}w%Z$80-eH3S`=38%
zj^gybrukskM1~$d30VWHgpva<8ZI&}W_Du-VPwIBFbS9-ifV`;nh`yGs75d@Zibi*
zGXi88VRMmHgPlf%xkw&?X~%FcOaiBuvA7q*TnsNu$PzRc!^;O=5H=S*DCrhO2_>BH
z5Q2GaG%P{!juH3haWn#wyW8~9q614-94$IPCE94w0j^UqO3R^MbhNJ*o8HTD-saeK
R1z=l)!PC{xWt~$(699@P5ZC|!

diff --git a/move_base.launch b/move_base.launch
deleted file mode 100644
index 1ef9f37..0000000
--- a/move_base.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-	<!-- Run the map server -->
-	<node name="map_server" pkg="map_server" type="map_server" args="$(find arm)/config/map.png 0.01" />
-
-	<!-- Run AMCL -->
-	<include file="$(find amcl)/examples/amcl_diff.launch" />
-
-	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-		<param name="controller_frequency" value="10.0" />
-		<rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-		<rosparam file="$(find arm)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-		<rosparam file="$(find arm)/config/global_costmap_params.yaml" command="load" />
-		<rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
-		<rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
-	</node>
-
-	<param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-</launch>
diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro
deleted file mode 100644
index dd7b0f1..0000000
--- a/urdf/arm.urdf.xacro
+++ /dev/null
@@ -1,74 +0,0 @@
-<?xml version="1.0"?>
-<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
-	<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
-
-	<link name="base_link">
-		<visual>
-			<geometry>
-				<box size="0.30 0.22 0.015"/>
-			</geometry>
-			<origin xyz="0.08 0 0.095" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0.0 0.0 0.0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="front_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.025" length="0.002"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="aft_left_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.025" length="0.002"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="aft_right_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.025" length="0.002"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<xacro:asus_camera name="camera" parent="base_link">
-		<origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
-	</xacro:asus_camera>
-
-	<joint name="front_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="front_wheel"/>
-		<origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="aft_left_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="aft_left_wheel"/>
-		<origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="aft_right_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="aft_right_wheel"/>
-		<origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
-	</joint>
-</robot>
-- 
2.39.2