Added a generic launch for the CEABOT competition.

Removed the rqt_reconfigure launch from the action client.

darwin_apps/launch/action_client.launch

@@ -18,9 +18,5 @@
              to="/darwin/robot/set_servo_modules"/>
   </node>
 
-  <!-- launch dynamic reconfigure -->
-  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
-    output="screen"/>
-
 </launch>
 

darwin_apps/launch/ceabot/ceabot_base.launch

+<launch>
+
+  <arg name="robot" default="darwin" />
+
+  <include file="$(find darwin_description)/launch/darwin_base.launch">
+    <arg name="robot" value="$(arg robot)" />
+  </include>
+
+  <include file="$(find darwin_apps)/launch/xs_camera_qr.launch"/>
+
+  <include file="$(find bno055_imu)/launch/darwin_bno055_imu.launch"/>
+</launch>
+

darwin_apps/launch/ceabot/ceabot_vision.launch

-<launch>
-
-  <arg name="robot" default="darwin" />
-
-  <include file="$(find darwin_description)/launch/darwin_base.launch">
-    <arg name="robot" value="$(arg robot)" />
-  </include>
-
-  <include file="$(find darwin_apps)/launch/xs_camera_qr.launch"/>
-
-  <!-- launch the vision_prove node -->
-  <node pkg ="iri_vision_prove"
-        type="iri_vision_prove"
-        name="iri_vision_prove"
-        output="screen">
-    <remap from="/head_follow_target"
-             to="/darwin/robot/head_follow_target"/>
-    <remap from="/iri_vision_prove/set_servo_modules"
-             to="/darwin/robot/set_servo_modules"/> 
-    <remap from="/iri_vision_prove/head_target"
-             to="/darwin/robot/head_target"/>
-    <remap from="/iri_vision_prove/qr_pose"
-             to="/darwin/qr_detector/qr_pose"/>
-    <remap from="/iri_vision_prove/joint_states"
-             to="/darwin/joint_states"/>
-    <remap from="/joint_trajectory"
-             to="/darwin/robot/joint_trajectory"/>
-    <remap from="/iri_vision_prove/cmd_vel"
-             to="/darwin/robot/cmd_vel"/>
-    <remap from="/iri_vision_prove/set_walk_params"
-             to="/darwin/robot/set_walk_params"/>
-    <remap from="/motion_action"
-             to="/darwin/robot/motion_action"/>
-  </node>
- 
-  <!-- launch dynamic reconfigure -->
-<!--  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
-    output="screen"/>-->
-
-</launch>
-