From 8c8c0dc3335309138c5e5d7eee6808f71eb1d7d1 Mon Sep 17 00:00:00 2001
From: stooppas <pascal.stoop@pasto.ch>
Date: Fri, 10 Jun 2022 09:15:32 +0200
Subject: [PATCH] Change launch files

---
 .../launch/controllers.launch.py              |  3 +
 .../launch/robot_commander.launch.py          | 55 -------------------
 2 files changed, 3 insertions(+), 55 deletions(-)
 delete mode 100644 niryo_one_bringup/launch/robot_commander.launch.py

diff --git a/niryo_one_bringup/launch/controllers.launch.py b/niryo_one_bringup/launch/controllers.launch.py
index 49f2afb..b9fd4da 100644
--- a/niryo_one_bringup/launch/controllers.launch.py
+++ b/niryo_one_bringup/launch/controllers.launch.py
@@ -124,6 +124,9 @@ def generate_launch_description():
         output='screen',
         executable='robot_state_publisher',
         parameters=[robot_description],
+        remappings=[
+                (['/',LaunchConfiguration('ns'),'/joint_states'], '/joint_states'),
+            ],  
     )
 
     start_controller_spawner_1_cmd = Node(
diff --git a/niryo_one_bringup/launch/robot_commander.launch.py b/niryo_one_bringup/launch/robot_commander.launch.py
deleted file mode 100644
index 1049504..0000000
--- a/niryo_one_bringup/launch/robot_commander.launch.py
+++ /dev/null
@@ -1,55 +0,0 @@
-from inspect import Parameter
-from operator import truediv
-import os
-from pickle import TRUE
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch.substitutions import TextSubstitution
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression,Command,PathJoinSubstitution,FindExecutable,ThisLaunchFileDir
-from launch_ros.actions import Node
-
-
-
-def generate_launch_description():
-    moveit_config_dir = get_package_share_directory('niryo_one_moveit_config')
-
-    description_dir_argument = DeclareLaunchArgument(name="description_dir")
-    urdf_file_argument = DeclareLaunchArgument(name="urdf_file")
-    namespace_argument = DeclareLaunchArgument(name="ns")
-    launch_rviz_argument = DeclareLaunchArgument(name="launch_rviz")
-
-    description_dir = LaunchConfiguration('description_dir')
-    urdf_file = LaunchConfiguration('urdf_file')
-    namespace = LaunchConfiguration("ns")
-    launch_rviz = LaunchConfiguration("launch_rviz")
-
-    move_group_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([moveit_config_dir,"/launch" ,"/niryo_one_moveit.launch.py"]),
-        launch_arguments={
-            "description_dir":description_dir,
-            "urdf_file":urdf_file,
-            "moveit_config_package":"niryo_one_moveit_config",
-            "moveit_config_file":"niryo_one.srdf.xacro",
-            "ns":namespace,
-            "use_sim_time": "true",
-            "launch_rviz":launch_rviz
-        }.items(),
-    )
-        
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Add any conditioned actions
-    ld.add_action(description_dir_argument)
-    ld.add_action(urdf_file_argument)
-    ld.add_action(namespace_argument)
-    ld.add_action(launch_rviz_argument)
-    ld.add_action(move_group_launch)
-
-    return ld   
\ No newline at end of file