updated launch files to not use rviz

siddharthbhurat4 · Dec 1, 2023 · 37511b2 · 37511b2
1 parent 0da77cf
commit 37511b2
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Showing 2 changed files with 43 additions and 43 deletions.
diff --git a/src/basic_mobile_robot/launch/basic_mobile_bot_v1.launch.py b/src/basic_mobile_robot/launch/basic_mobile_bot_v1.launch.py
@@ -13,14 +13,14 @@ def generate_launch_description():
   default_launch_dir = os.path.join(pkg_share, 'launch')
   default_model_path = os.path.join(pkg_share, 'models/basic_mobile_bot_v1.urdf')
   robot_name_in_urdf = 'basic_mobile_bot'
-  default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
+  # default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
 
   # Launch configuration variables specific to simulation
   gui = LaunchConfiguration('gui')
   model = LaunchConfiguration('model')
-  rviz_config_file = LaunchConfiguration('rviz_config_file')
+  # rviz_config_file = LaunchConfiguration('rviz_config_file')
   use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
-  use_rviz = LaunchConfiguration('use_rviz')
+  # use_rviz = LaunchConfiguration('use_rviz')
   use_sim_time = LaunchConfiguration('use_sim_time')
 
   # Declare the launch arguments  
@@ -29,10 +29,10 @@ def generate_launch_description():
     default_value=default_model_path, 
     description='Absolute path to robot urdf file')
 
-  declare_rviz_config_file_cmd = DeclareLaunchArgument(
-    name='rviz_config_file',
-    default_value=default_rviz_config_path,
-    description='Full path to the RVIZ config file to use')
+  # declare_rviz_config_file_cmd = DeclareLaunchArgument(
+  #   name='rviz_config_file',
+  #   default_value=default_rviz_config_path,
+  #   description='Full path to the RVIZ config file to use')
 
   declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
     name='gui',
@@ -44,10 +44,10 @@ def generate_launch_description():
     default_value='True',
     description='Whether to start the robot state publisher')
 
-  declare_use_rviz_cmd = DeclareLaunchArgument(
-    name='use_rviz',
-    default_value='True',
-    description='Whether to start RVIZ')
+  # declare_use_rviz_cmd = DeclareLaunchArgument(
+  #   name='use_rviz',
+  #   default_value='True',
+  #   description='Whether to start RVIZ')
 
   declare_use_sim_time_cmd = DeclareLaunchArgument(
     name='use_sim_time',
@@ -79,30 +79,30 @@ def generate_launch_description():
     'robot_description': Command(['xacro ', model])}],
     arguments=[default_model_path])
 
-  # Launch RViz
-  start_rviz_cmd = Node(
-    condition=IfCondition(use_rviz),
-    package='rviz2',
-    executable='rviz2',
-    name='rviz2',
-    output='screen',
-    arguments=['-d', rviz_config_file])
+  # # Launch RViz
+  # start_rviz_cmd = Node(
+  #   condition=IfCondition(use_rviz),
+  #   package='rviz2',
+  #   executable='rviz2',
+  #   name='rviz2',
+  #   output='screen',
+  #   arguments=['-d', rviz_config_file])
 
   # Create the launch description and populate
   ld = LaunchDescription()
 
   # Declare the launch options
   ld.add_action(declare_model_path_cmd)
-  ld.add_action(declare_rviz_config_file_cmd)
+  # ld.add_action(declare_rviz_config_file_cmd)
   ld.add_action(declare_use_joint_state_publisher_cmd)
   ld.add_action(declare_use_robot_state_pub_cmd)  
-  ld.add_action(declare_use_rviz_cmd) 
+  # ld.add_action(declare_use_rviz_cmd) 
   ld.add_action(declare_use_sim_time_cmd)
 
   # Add any actions
   ld.add_action(start_joint_state_publisher_cmd)
   ld.add_action(start_joint_state_publisher_gui_node)
   ld.add_action(start_robot_state_publisher_cmd)
-  ld.add_action(start_rviz_cmd)
+  # ld.add_action(start_rviz_cmd)
 
   return ld
diff --git a/src/basic_mobile_robot/launch/basic_mobile_bot_v2.launch.py b/src/basic_mobile_robot/launch/basic_mobile_bot_v2.launch.py
@@ -15,16 +15,16 @@ def generate_launch_description():
   default_launch_dir = os.path.join(pkg_share, 'launch')
   default_model_path = os.path.join(pkg_share, 'models/basic_mobile_bot_v1.urdf')
   robot_name_in_urdf = 'basic_mobile_bot'
-  default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
+  # default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz')
   world_file_name = 'basic_mobile_bot_world/town.world'
   world_path = os.path.join(pkg_share, 'worlds', world_file_name)
 
   # Launch configuration variables specific to simulation
   headless = LaunchConfiguration('headless')
   model = LaunchConfiguration('model')
-  rviz_config_file = LaunchConfiguration('rviz_config_file')
+  # rviz_config_file = LaunchConfiguration('rviz_config_file')
   use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
-  use_rviz = LaunchConfiguration('use_rviz')
+  # use_rviz = LaunchConfiguration('use_rviz')
   use_sim_time = LaunchConfiguration('use_sim_time')
   use_simulator = LaunchConfiguration('use_simulator')
   world = LaunchConfiguration('world')
@@ -35,10 +35,10 @@ def generate_launch_description():
     default_value=default_model_path, 
     description='Absolute path to robot urdf file')
 
-  declare_rviz_config_file_cmd = DeclareLaunchArgument(
-    name='rviz_config_file',
-    default_value=default_rviz_config_path,
-    description='Full path to the RVIZ config file to use')
+  # declare_rviz_config_file_cmd = DeclareLaunchArgument(
+  #   name='rviz_config_file',
+  #   default_value=default_rviz_config_path,
+  #   description='Full path to the RVIZ config file to use')
 
   declare_simulator_cmd = DeclareLaunchArgument(
     name='headless',
@@ -50,10 +50,10 @@ def generate_launch_description():
     default_value='True',
     description='Whether to start the robot state publisher')
 
-  declare_use_rviz_cmd = DeclareLaunchArgument(
-    name='use_rviz',
-    default_value='True',
-    description='Whether to start RVIZ')
+  # declare_use_rviz_cmd = DeclareLaunchArgument(
+  #   name='use_rviz',
+  #   default_value='True',
+  #   description='Whether to start RVIZ')
 
   declare_use_sim_time_cmd = DeclareLaunchArgument(
     name='use_sim_time',
@@ -93,23 +93,23 @@ def generate_launch_description():
     arguments=[default_model_path])
 
   # Launch RViz
-  start_rviz_cmd = Node(
-    condition=IfCondition(use_rviz),
-    package='rviz2',
-    executable='rviz2',
-    name='rviz2',
-    output='screen',
-    arguments=['-d', rviz_config_file])
+  # start_rviz_cmd = Node(
+  #   condition=IfCondition(use_rviz),
+  #   package='rviz2',
+  #   executable='rviz2',
+  #   name='rviz2',
+  #   output='screen',
+  #   arguments=['-d', rviz_config_file])
 
   # Create the launch description and populate
   ld = LaunchDescription()
 
   # Declare the launch options
   ld.add_action(declare_model_path_cmd)
-  ld.add_action(declare_rviz_config_file_cmd)
+  # ld.add_action(declare_rviz_config_file_cmd)
   ld.add_action(declare_simulator_cmd)
   ld.add_action(declare_use_robot_state_pub_cmd)  
-  ld.add_action(declare_use_rviz_cmd) 
+  # ld.add_action(declare_use_rviz_cmd) 
   ld.add_action(declare_use_sim_time_cmd)
   ld.add_action(declare_use_simulator_cmd)
   ld.add_action(declare_world_cmd)
@@ -118,6 +118,6 @@ def generate_launch_description():
   ld.add_action(start_gazebo_server_cmd)
   ld.add_action(start_gazebo_client_cmd)
   ld.add_action(start_robot_state_publisher_cmd)
-  ld.add_action(start_rviz_cmd)
+  # ld.add_action(start_rviz_cmd)
 
   return ld