removed motion control handle

idra-lab · Dec 4, 2024 · afa1f4f · afa1f4f
1 parent 1ed5bf2
commit afa1f4f
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Showing 5 changed files with 0 additions and 44 deletions.
diff --git a/lbr_bringup/launch/hardware.launch.py b/lbr_bringup/launch/hardware.launch.py
@@ -56,16 +56,6 @@ def generate_launch_description() -> LaunchDescription:
     lbr_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
         controller="lbr_state_broadcaster"
     )
-    motion_control_handle = Node(
-            package="controller_manager",
-            executable="spawner",
-            output="screen",
-            arguments=["motion_control_handle", "--controller-manage", "controller_manager"],
-            namespace="lbr",
-        )
-    # lbr_motion_control_handle = LBRROS2ControlMixin.node_controller_spawner(
-    #     controller="motion_control_handle"
-    # )
     controller = LBRROS2ControlMixin.node_controller_spawner(
         controller=LaunchConfiguration("ctrl")
     )
@@ -81,6 +71,5 @@ def generate_launch_description() -> LaunchDescription:
             ],
         )
     )
-    # ld.add_action(motion_control_handle)
     ld.add_action(controller_event_handler)
     return ld
diff --git a/lbr_bringup/lbr_bringup/ros2_control.py b/lbr_bringup/lbr_bringup/ros2_control.py
@@ -105,7 +105,6 @@ def node_ros2_control(
                 ("~/robot_description", "robot_description"),
                 ("cartesian_impedance_controller/target_frame", "target_frame"),
                 ("cartesian_impedance_controller/target_wrench", "target_wrench"),
-                ("motion_control_handle/target_frame", "target_frame"),
             ],
             **kwargs,
         )

diff --git a/lbr_description/gazebo/lbr_gazebo.xacro b/lbr_description/gazebo/lbr_gazebo.xacro
@@ -13,7 +13,6 @@
                     <remapping>~/robot_description:=robot_description</remapping>
                     <remapping>cartesian_impedance_controller/target_frame:=target_frame</remapping>
                     <remapping>cartesian_impedance_controller/target_wrench:=target_wrench</remapping>
-                    <remapping>motion_control_handle/target_frame:=target_frame</remapping>
                 </ros>
             </plugin>
         </gazebo>

diff --git a/lbr_description/ros2_control/lbr_controllers.yaml b/lbr_description/ros2_control/lbr_controllers.yaml
@@ -38,8 +38,6 @@
     gravity_compensation:
       type: gravity_compensation/GravityCompensation
 
-    motion_control_handle:
-      type: cartesian_controller_handles/MotionControlHandle
 
 /**/force_torque_broadcaster:
   ros__parameters:
@@ -129,20 +127,6 @@
         rot_y: 200.0
         rot_z: 200.0
 
-/**/motion_control_handle:
-  ros__parameters:
-    end_effector_link: "lbr_link_ee"
-    robot_base_link: "lbr_link_0"
-    ft_sensor_ref_link: "lbr_link_ee"
-    joints:
-      - lbr_A1
-      - lbr_A2
-      - lbr_A3
-      - lbr_A4
-      - lbr_A5
-      - lbr_A6
-      - lbr_A7
-
 /**/gravity_compensation:
   ros__parameters:
     end_effector_link: "lbr_link_ee"

diff --git a/lbr_ros2_control/config/lbr_controllers.yaml b/lbr_ros2_control/config/lbr_controllers.yaml
@@ -38,8 +38,6 @@
     gravity_compensation:
       type: gravity_compensation/GravityCompensation
 
-    motion_control_handle:
-      type: cartesian_controller_handles/MotionControlHandle
 
 /**/force_torque_broadcaster:
   ros__parameters:
@@ -129,19 +127,6 @@
         rot_y: 180.0
         rot_z: 180.0
     kuka: true
-/**/motion_control_handle:
-  ros__parameters:
-    end_effector_link: "link_tool"
-    robot_base_link: "link_0"
-    ft_sensor_ref_link: "link_ee"
-    joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
 
 /**/gravity_compensation:
   ros__parameters: