From da73f8211cde01098a6c97aeb4445fc4b7d63f16 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 3 Dec 2021 15:21:09 +0100
Subject: [PATCH] Cleanup launch files

---
 launch/apriltag.launch | 11 ++---------
 launch/hw.launch       | 32 ++++++++++++++++++++++++++++++--
 launch/panda.launch    | 33 ---------------------------------
 3 files changed, 32 insertions(+), 44 deletions(-)
 delete mode 100644 launch/panda.launch

diff --git a/launch/apriltag.launch b/launch/apriltag.launch
index 551f8eb..93a3d6f 100644
--- a/launch/apriltag.launch
+++ b/launch/apriltag.launch
@@ -1,13 +1,6 @@
 <launch>
-  <!-- Panda -->
-  <include file="$(find active_grasp)/launch/panda.launch" />
-
-  <!-- Camera -->
-  <include file="$(find realsense2_camera)/launch/rs_camera.launch">
-    <arg name="enable_pointcloud" value="true" />
-    <arg name="enable_infra1" value="true" />
-    <arg name="publish_tf" value="false" />
-  </include>
+  <!-- Robot and camera drivers -->
+  <include file="$(find active_grasp)/launch/hw.launch" />
 
   <!-- AprilTag -->
   <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">
diff --git a/launch/hw.launch b/launch/hw.launch
index 5660729..213a100 100644
--- a/launch/hw.launch
+++ b/launch/hw.launch
@@ -1,13 +1,41 @@
 <?xml version="1.0" ?>
 <launch>
+  <arg name="robot_ip" default="172.16.0.2" />
+  <arg name="load_gripper" default="true" />
 
-  <!-- Panda -->
-  <include file="$(find active_grasp)/launch/panda.launch" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
+
+  <!-- Panda control nodes -->
+  <node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
+    <rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
+    <param name="robot_ip" value="$(arg robot_ip)" />
+  </node>
+
+  <include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+  </include>
+
+  <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
+
+  <!-- State publisher -->
+  <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
+
+  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
+    <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
+    <param name="rate" value="30"/>
+  </node>
+
+  <!-- Controllers -->
+  <rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/>
 
   <!-- Camera -->
   <include file="$(find realsense2_camera)/launch/rs_camera.launch">
+    <arg name="enable_infra1" value="true" />
     <arg name="enable_pointcloud" value="true" />
     <arg name="publish_tf" value="false" />
   </include>
 
+
 </launch>
diff --git a/launch/panda.launch b/launch/panda.launch
deleted file mode 100644
index 7f0aac9..0000000
--- a/launch/panda.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" ?>
-<launch>
-  <arg name="robot_ip" default="172.16.0.2" />
-  <arg name="load_gripper" default="true" />
-
-  <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
-
-  <!-- Panda control nodes -->
-  <node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
-    <rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
-    <param name="robot_ip" value="$(arg robot_ip)" />
-  </node>
-
-  <include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
-    <arg name="robot_ip" value="$(arg robot_ip)" />
-  </include>
-
-  <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
-
-  <!-- State publisher -->
-  <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
-
-  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-    <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
-    <param name="rate" value="30"/>
-  </node>
-
-  <!-- Controllers -->
-  <rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/>
-
-</launch>