From 34d4ba416ab1d03b85bebdcbf1983f941eb2f95c Mon Sep 17 00:00:00 2001
From: Alexandre Vannobel <avannobel@kinova.ca>
Date: Wed, 5 Aug 2020 14:10:48 -0400
Subject: [PATCH] Removed test launch file

---
 kortex_driver/launch/test_simulator.launch | 108 ---------------------
 1 file changed, 108 deletions(-)
 delete mode 100644 kortex_driver/launch/test_simulator.launch

diff --git a/kortex_driver/launch/test_simulator.launch b/kortex_driver/launch/test_simulator.launch
deleted file mode 100644
index b425760b..00000000
--- a/kortex_driver/launch/test_simulator.launch
+++ /dev/null
@@ -1,108 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    
-    <!-- Arm configuration -->
-    <arg name="arm" default="gen3"/>
-    <arg name="dof" default="7" if="$(eval arg('arm') == 'gen3')"/> <!-- Number of degrees of freedom of the arm -->
-    <arg name="dof" default="6" if="$(eval arg('arm') == 'gen3_lite')"/> <!-- Number of degrees of freedom of the arm -->
-    <arg name="vision" default="true"/> <!-- True if the arm has a Vision module -->
-    <arg name="use_hard_limits" default="false"/> <!-- Set soft limits as hard limits (Gen3 only) -->
-
-    <!-- Gripper configuration -->
-    <!-- Default gripper for Gen3 is none, default gripper for Gen3 lite is gen3_lite_2f -->
-    <arg name="gripper" default="" if="$(eval arg('arm') == 'gen3')"/>
-    <arg name="gripper" default="gen3_lite_2f" if="$(eval arg('arm') == 'gen3_lite')"/>
-
-    <!-- Namespace -->
-    <arg name="robot_name" default="my_$(arg arm)"/>
-    <arg name="prefix" default=""/>
-
-    <!-- Kortex API options -->
-    <arg name="ip_address" default="192.168.1.10"/>
-    <arg name="username" default="admin"/>
-    <arg name="password" default="admin"/>
-    <arg name="cyclic_data_publish_rate" default="40"/> <!--Hz-->
-    <arg name="api_rpc_timeout_ms" default="2000"/> <!--milliseconds-->
-    <arg name="api_session_inactivity_timeout_ms" default="35000"/> <!--milliseconds-->
-    <arg name="api_connection_inactivity_timeout_ms" default="20000"/> <!--milliseconds-->
-
-    <!-- Automatically start other modules -->
-    <arg name="start_moveit" default="true"/>
-
-    <!-- Action server params -->
-    <arg name="default_goal_time_tolerance" default="0.5"/> <!--seconds-->
-    <arg name="default_goal_tolerance" default="0.005"/> <!--radians-->
-
-    <group ns="$(arg robot_name)">
-        <group if="$(eval not arg('prefix'))">
-            <!-- Load the description for the robot -->
-            <!-- Without gripper -->
-            <param name="robot_description" command="$(find xacro)/xacro $(find kortex_description)/robots/$(arg arm).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false"
-                if="$(eval not arg('gripper'))"/>
-            <!-- With gripper -->
-            <param name="robot_description" command="$(find xacro)/xacro $(find kortex_description)/robots/$(arg arm)_$(arg gripper).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false"
-                unless="$(eval not arg('gripper'))"/>
-        </group>
-        <group unless="$(eval not arg('prefix'))">
-            <!-- Load the description for the robot -->
-            <!-- Without gripper -->
-            <param name="robot_description" command="$(find xacro)/xacro $(find kortex_description)/robots/$(arg arm).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false prefix:=$(arg prefix)"
-                if="$(eval not arg('gripper'))"/>
-            <!-- With gripper -->
-            <param name="robot_description" command="$(find xacro)/xacro $(find kortex_description)/robots/$(arg arm)_$(arg gripper).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false prefix:=$(arg prefix)"
-                unless="$(eval not arg('gripper'))"/>
-        </group>
-
-        <!-- Start MoveIt! main executable -->
-        <group if="$(arg start_moveit)">
-
-            <!-- TODO Find cleaner way to do that and that will work with other arms -->
-            <!-- Without gripper -->
-            <include file="$(find kortex_description)/../kortex_move_it_config/$(arg arm)_move_it_config/launch/move_group.launch" if="$(eval not arg('gripper'))"> 
-                <arg name="dof" value="$(arg dof)"/>
-                <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
-                <arg name="prefix" value="$(arg prefix)"/>
-                <arg name="fake_execution" value="true"/>
-            </include>
-            <!-- With gripper -->
-            <include file="$(find kortex_description)/../kortex_move_it_config/$(arg arm)_$(arg gripper)_move_it_config/launch/move_group.launch" unless="$(eval not arg('gripper'))"> 
-                <arg name="dof" value="$(arg dof)"/>
-                <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
-                <arg name="prefix" value="$(arg prefix)"/>
-                <arg name="fake_execution" value="true"/>
-            </include>
-
-        </group>
-
-        <!-- Start joint and robot state publisher -->
-        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-            <rosparam param="source_list">[base_feedback/joint_state]</rosparam>
-            <param name="use_gui" value="false"/>
-            <param name="rate" value="$(arg cyclic_data_publish_rate)" />
-        </node>
-        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-        <!-- Start the kortex_driver node -->
-        <test test-name="$(arg robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver_func_tests" args=" --gtest_filter=KortexSim*"> <!--launch-prefix="gdb -ex run args"-->
-            <param name="sim" value="true"/>
-            <param name="ip_address" value="$(arg ip_address)"/>
-            <param name="username" value="$(arg username)"/>
-            <param name="password" value="$(arg password)"/>
-            <param name="cyclic_data_publish_rate" value="$(arg cyclic_data_publish_rate)"/>
-            <param name="api_rpc_timeout_ms" value="$(arg api_rpc_timeout_ms)"/>
-            <param name="api_session_inactivity_timeout_ms" value="$(arg api_session_inactivity_timeout_ms)"/>
-            <param name="api_connection_inactivity_timeout_ms" value="$(arg api_connection_inactivity_timeout_ms)"/>
-            <param name="default_goal_time_tolerance" value="$(arg default_goal_time_tolerance)"/>
-            <param name="default_goal_tolerance" value="$(arg default_goal_tolerance)"/>
-            <param name="arm" value="$(arg arm)"/>
-            <param name="gripper" value="$(arg gripper)"/>
-            <param name="dof" value="$(arg dof)"/>
-            <param name="use_hard_limits" value="$(arg use_hard_limits)"/>
-            <param name="robot_name" value="$(arg robot_name)"/>
-            <param name="prefix" value="$(arg prefix)"/>
-            <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml" subst_value="true"/>
-            <!-- If there is a gripper, load the active joint names for it -->
-            <rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))" subst_value="true"/>
-        </test>
-    </group>
-</launch>