Delete deprecated Panda config and launch files #98
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Makes sense. With that, you could technically delete all launch xml files since those are not used in ROS 2 at all.
In this case it makes sense to keep the files, imo. Otherwise you would have to check out an old branch for porting it. |
AndyZe
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@henningkayser I rebased this, reset the Fanuc changes, and grepped to double-check that I caught all unused Panda xml files. |
AndyZe
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By the look of it, there are many more ROS1 launch files for the Panda arm. Are all of the remaining, old .launch files with XML compatible with ROS2? It looks like, weirdly enough, ROS2 does still support the XML style launch files and even adds new keywords. https://docs.ros.org/en/galactic/How-To-Guides/Launch-files-migration-guide.html
To be clear, I don't have any issues with this PR, just wondering if even more files can/should be removed.
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I think we should delete those old launch files now. If nobody pipes up with a strong opinion soon, I'll do so. |
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I'm not really sure why they've been kept around so long. I guess it was for convenience when porting to ROS2. |
AndyZe
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| @@ -79,7 +79,7 @@ def generate_launch_description(): | |||
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| # Trajectory Execution Functionality | |||
| moveit_simple_controllers_yaml = load_yaml( | |||
| "moveit_resources_panda_moveit_config", "config/panda_controllers.yaml" | |||
| "moveit_resources_panda_moveit_config", "config/panda_moveit_controllers.yaml" | |||
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Did you mean panda_ros2_controllers.yaml?
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(panda_moveit_controllers.yaml doesn't exist)
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Oops, I guess I forget to rename the file. It's currently named panda_controllers.yaml. Will make a fixup PR right now.
All of the parameters from the Panda ompl_planning_pipeline.launch.xml have been moved to demo.launch.py so this config file is not used at all. For clarity, I think we should delete it.
Also delete
fake_controllers.yamlwhich is not needed at all in ROS2. The ros2_control Fake system replaced it.