From f4d1985a9fba6c3ea76ac017fe97a1e0f4bd4a2a Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 5 Mar 2020 11:13:56 +0100
Subject: [PATCH] Moved the cmd_vel mux launch and configuration files to the
 robot bringup packages.

---
 launch/include/cmd_vel_mux.launch | 31 -------------------------------
 params/mux.yaml                   | 27 ---------------------------
 2 files changed, 58 deletions(-)
 delete mode 100644 launch/include/cmd_vel_mux.launch
 delete mode 100644 params/mux.yaml

diff --git a/launch/include/cmd_vel_mux.launch b/launch/include/cmd_vel_mux.launch
deleted file mode 100644
index 0f0de65..0000000
--- a/launch/include/cmd_vel_mux.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <arg name="ns"                   default="robot"/>
-  <arg name="nodelet_manager_name" default="nodelet_manager"/>
-  <arg name="config"               default="$(find iri_rosnav)/param/mux.yaml"/>
-  <arg name="output"               default="log" />
-  <arg name="launch_prefix"        default="" />
-  
-  <group ns="$(arg ns)">
-
-    <node pkg ="nodelet" 
-          type="nodelet"
-          name="$(arg nodelet_manager_name)"
-          args="manager"
-          output="$(arg output)"
-          launch-prefix="$(arg launch_prefix)"/>
-
-    <node pkg ="nodelet"
-          type="nodelet"
-          name="cmd_vel_mux"
-          args="load yocs_cmd_vel_mux/CmdVelMuxNodelet $(arg nodelet_manager_name)"
-          output="$(arg output)"
-          launch-prefix="$(arg launch_prefix)">
-      <param name="yaml_cfg_file" value="$(arg config)"/>
-    </node>
-  
-  </group>
-
-</launch>
\ No newline at end of file
diff --git a/params/mux.yaml b/params/mux.yaml
deleted file mode 100644
index aa812c1..0000000
--- a/params/mux.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-subscribers:
-  - name:        "Default input"
-    topic:       "/robot/default/cmd_vel"
-    timeout:     0.1
-    priority:    0
-    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
-
-  - name:        "Platform orientation"
-    topic:       "/robot/orientation/cmd_vel"
-    timeout:     0.1
-    priority:    4
-    short_desc:  "Platform orientation to people"
-
-  - name:        "Navigation stack"
-    topic:       "/robot/navigation/cmd_vel"
-    timeout:     0.5
-    priority:    5
-    short_desc:  "Navigation stack controller"
-
-  - name:        "Teleop"
-    topic:       "/robot/teleop/cmd_vel"
-    timeout:     0.1
-    priority:    10
-    short_desc:  "Teleop wii/ps3 pad"
-
-#publisher:       "/robot/mux/cmd_vel"
-publisher:       "/robot/cmd_vel"
-- 
GitLab