From afa1f4f408bd7fc2369f8155d2511bf88b4e3814 Mon Sep 17 00:00:00 2001
From: hydran00 <davide.nardi-1@unitn.it>
Date: Wed, 4 Dec 2024 15:06:32 +0100
Subject: [PATCH] removed motion control handle

---
 lbr_bringup/launch/hardware.launch.py            | 11 -----------
 lbr_bringup/lbr_bringup/ros2_control.py          |  1 -
 lbr_description/gazebo/lbr_gazebo.xacro          |  1 -
 .../ros2_control/lbr_controllers.yaml            | 16 ----------------
 lbr_ros2_control/config/lbr_controllers.yaml     | 15 ---------------
 5 files changed, 44 deletions(-)

diff --git a/lbr_bringup/launch/hardware.launch.py b/lbr_bringup/launch/hardware.launch.py
index fab80d18..31a4662d 100644
--- 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
\ No newline at end of file
diff --git a/lbr_bringup/lbr_bringup/ros2_control.py b/lbr_bringup/lbr_bringup/ros2_control.py
index d38631ca..c5a23321 100644
--- 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
index 886df0c3..a290480a 100644
--- 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
index b2a5b4d7..90e2f4db 100644
--- 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
index 8ce52b57..97186207 100644
--- 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: