From febd49ab882d9384e369ed07f98cb390fa026420 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Sat, 18 Apr 2020 10:31:00 +0200
Subject: [PATCH] [scripts] Remove starting scripts from talos_data. They have
been moved to roscontrol_sot_talos in repository
talos_metapkg_ros_control_sot
---
CMakeLists.txt | 2 +-
scripts/start_talos_gazebo.py | 70 -----------------------------
scripts/start_talos_gazebo_16_04.py | 55 -----------------------
3 files changed, 1 insertion(+), 126 deletions(-)
delete mode 100755 scripts/start_talos_gazebo.py
delete mode 100644 scripts/start_talos_gazebo_16_04.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e701cc6..99821fc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,7 @@ ENDIF(SUFFIX_SO_VERSION)
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-FOREACH(dir config gazebo meshes robots urdf scripts srdf launch)
+FOREACH(dir config gazebo meshes robots urdf srdf launch)
INSTALL(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
ENDFOREACH(dir)
diff --git a/scripts/start_talos_gazebo.py b/scripts/start_talos_gazebo.py
deleted file mode 100755
index 78935e0..0000000
--- a/scripts/start_talos_gazebo.py
+++ /dev/null
@@ -1,70 +0,0 @@
-#!/usr/bin/env python
-# O. Stasse 17/01/2020
-# LAAS, CNRS
-
-import os
-import rospy
-import time
-import roslaunch
-import rospkg
-
-from std_srvs.srv import Empty
-
-# Start roscore
-import subprocess
-roscore = subprocess.Popen('roscore')
-time.sleep(1)
-
-# Get the path to talos_data
-arospack = rospkg.RosPack()
-talos_data_path = arospack.get_path('talos_data')
-
-# Start talos_gazebo
-rospy.init_node('starting_talos_gazebo', anonymous=True)
-uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-roslaunch.configure_logging(uuid)
-
-cli_args = [talos_data_path+'/launch/talos_gazebo_alone.launch',
- 'world:=empty_forced',
- 'enable_leg_passive:=false'
- ]
-roslaunch_args = cli_args[1:]
-roslaunch_file = [(roslaunch.rlutil.resolve_launch_arguments(cli_args)[0], roslaunch_args)]
-
-launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file)
-launch_gazebo_alone.start()
-rospy.loginfo("talos_gazebo_alone started")
-
-rospy.wait_for_service("/gazebo/pause_physics")
-gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
-gazebo_pause_physics()
-
-time.sleep(5)
-# Spawn talos model in gazebo
-launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
- [talos_data_path+'/launch/talos_gazebo_spawn_hs.launch'])
-#launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid,
-# [talos_data_path+'/launch/talos_gazebo_spawn_hs_wide.launch'])
-launch_gazebo_spawn_hs.start()
-rospy.loginfo("talos_gazebo_spawn_hs started")
-
-rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
-time.sleep(5)
-gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
-gazebo_unpause_physics()
-
-# Start roscontrol
-launch_bringup = roslaunch.parent.ROSLaunchParent(uuid,
- [talos_data_path+'/launch/talos_bringup.launch'])
-launch_bringup.start()
-rospy.loginfo("talos_bringup started")
-
-# Start sot
-roscontrol_sot_talos_path=arospack.get_path('roscontrol_sot_talos')
-launch_roscontrol_sot_talos =roslaunch.parent.ROSLaunchParent(uuid,
- [roscontrol_sot_talos_path+'/launch/sot_talos_controller_gazebo.launch'])
-launch_roscontrol_sot_talos.start()
-rospy.loginfo("roscontrol_sot_talos started")
-
-rospy.spin()
-
diff --git a/scripts/start_talos_gazebo_16_04.py b/scripts/start_talos_gazebo_16_04.py
deleted file mode 100644
index 3a73661..0000000
--- a/scripts/start_talos_gazebo_16_04.py
+++ /dev/null
@@ -1,55 +0,0 @@
-#!/usr/bin/env python
-# O. Stasse 17/01/2020
-# LAAS, CNRS
-
-# This file is a temporary fix for the ubuntu version 16.04 of the script start_talos_gazebo.py
-# The path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data') in 16.04.
-# This should be investigated (see issue #4 "Hardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.py")
-
-import os
-import rospy
-import time
-import roslaunch
-from std_srvs.srv import Empty
-
-# Start roscore
-import subprocess
-roscore = subprocess.Popen('roscore')
-time.sleep(1)
-
-# Start talos_gazebo
-rospy.init_node('starting_talos_gazebo', anonymous=True)
-uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-roslaunch.configure_logging(uuid)
-
-launch_gazebo_alone = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_alone.launch"])
-launch_gazebo_alone.start()
-rospy.loginfo("talos_gazebo_alone started")
-
-rospy.wait_for_service("/gazebo/pause_physics")
-gazebo_pause_physics = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
-gazebo_pause_physics()
-
-time.sleep(3)
-# Spawn talos model in gazebo
-launch_gazebo_spawn_hs = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_data/launch/talos_gazebo_spawn_hs.launch"])
-launch_gazebo_spawn_hs.start()
-rospy.loginfo("talos_gazebo_spawn_hs started")
-
-rospy.wait_for_service("/gains/arm_left_1_joint/set_parameters")
-time.sleep(3)
-gazebo_unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
-gazebo_unpause_physics()
-
-# Start roscontrol
-launch_bringup = roslaunch.parent.ROSLaunchParent(uuid, ["/opt/openrobots/share/talos_bringup/launch/talos_bringup.launch"])
-launch_bringup.start()
-rospy.loginfo("talos_bringup started")
-
-# # Start sot
-# Start sot in another terminal with "roslaunch roscontrol_sot_talos sot_talos_controller_gazebo.launch"
-# in order to have the logs saved. Otherwise the data are not correctly dumped when the process is killed.
-
-
-rospy.spin()
-
--
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