From 0cf7e3dc8aff0a6aa4a9a3da8adca50fabe74ea1 Mon Sep 17 00:00:00 2001
From: Valerie Bartel <v.bartel.vb@gmail.com>
Date: Wed, 10 May 2023 20:55:04 +0200
Subject: [PATCH] remove gazebo launchfile

---
 bitbots_bringup/launch/gazebo.launch | 46 ----------------------------
 1 file changed, 46 deletions(-)
 delete mode 100644 bitbots_bringup/launch/gazebo.launch

diff --git a/bitbots_bringup/launch/gazebo.launch b/bitbots_bringup/launch/gazebo.launch
deleted file mode 100644
index cfa76b56e..000000000
--- a/bitbots_bringup/launch/gazebo.launch
+++ /dev/null
@@ -1,46 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- set parameter -->
-    <arg name="hcm" default="false"/>
-    <arg name="sim_ns" default="/" description="namespace for gazebo plugins" />
-    <arg name="use_fake_walk" default="False"/>
-
-    <param name="/simulation_active" value="true"/>
-    <param name="/use_sim_time" value="true" />
-
-    <!-- remaps necessary for other parts of our software -->
-    <remap from="camera/image_raw" to="camera/image_proc"/>
-    <remap from="camera/camera_info" to="camera_info"/>
-    <remap from="imu" to="imu/data"/>
-
-    <include file="$(find-pkg-share bitbots_utils)/launch/base.launch">
-        <arg name="sim" value="true"/>
-        <arg name="sim_ns" default="$(var sim_ns)" />
-        <arg name="use_fake_walk" default="$(var use_fake_walk)"/>
-    </include>
-
-    <!-- launch gazebo with soccer field -->
-    <group if="$(var use_fake_walk)">
-        <include file="$(find-pkg-share gazebo_ros)/launch/empty_world.launch">
-            <!-- use simpler physics when faking walk -->
-            <arg name="world_name" value="$(find-pkg-share humanoid_league_gazebo_world)/worlds/robocup_soccer_simple_physics.world"/>
-            <arg name="paused" value="false"/>
-        </include>
-        <rosparam file="$(find-pkg-share wolfgang_description)/config/wolfgang_control_simple_physics.yaml" command="load" ns="$(var sim_ns)"/>
-        <node name="keep_stable" pkg="bitbots_utils" exec="keep_stable_in_sim.py" output="screen" />
-    </group>
-    <group unless="$(var use_fake_walk)">
-        <include file="$(find-pkg-share gazebo_ros)/launch/empty_world.launch">
-            <arg name="world_name" value="$(find-pkg-share humanoid_league_gazebo_world)/worlds/robocup_soccer.world"/>
-            <arg name="paused" value="false"/>
-        </include>
-        <rosparam file="$(find-pkg-share wolfgang_description)/config/wolfgang_control.yaml" command="load" ns="$(var sim_ns)"/>
-    </group>
-
-    <!-- spawn URDF and load the controllers -->
-    <node name="spawn_urdf" pkg="gazebo_ros" ns="$(var sim_ns)" exec="spawn_model" args="-param /robot_description -urdf -model $(var sim_ns) -x -1.5 -y 3.3 -z 0.43 -Y -1.5 -P 0.26" output="screen" />
-    <node name="controller_spawner" pkg="controller_manager" exec="spawner" respawn="false" output="screen" ns="$(var sim_ns)" args="joint_state_controller JointGroupController" />
-
-    <!-- map motion goals for simulator -->
-    <node name="motor_viz_helper" pkg="bitbots_utils" exec="motor_goals_viz_helper.py" output="screen" args="--gazebo" />
-</launch>