Remove redundant robot_dscription node from bringup

husarion · Jul 25, 2023 · c838078 · c838078
1 parent f0fa9d7
commit c838078
Showing 1 changed file with 1 addition and 11 deletions.
diff --git a/panther_bringup/launch/bringup.launch b/panther_bringup/launch/bringup.launch
@@ -21,16 +21,6 @@
   <arg name="wheel_config_file" value="$(find panther_description)/config/WH04.yaml"
     if="$(eval wheel_type == 'WH04')" />
 
-  <arg name="robot_description" if="$(arg publish_robot_state)"
-    default="$(find xacro)/xacro $(find panther_description)/urdf/panther.urdf.xacro
-              wheel_config_path:=$(arg wheel_config_file)
-              imu_pos_x:=$(optenv PANTHER_IMU_LOCALIZATION_X 0.168)
-              imu_pos_y:=$(optenv PANTHER_IMU_LOCALIZATION_Y 0.028)
-              imu_pos_z:=$(optenv PANTHER_IMU_LOCALIZATION_Z 0.083)
-              imu_rot_r:=$(optenv PANTHER_IMU_ORIENTATION_R 3.14)
-              imu_rot_p:=$(optenv PANTHER_IMU_ORIENTATION_P -1.57)
-              imu_rot_y:=$(optenv PANTHER_IMU_ORIENTATION_Y 0.0)" />
-
   <!-- load default params -->
   <rosparam command="load" file="$(find panther_bringup)/config/panther_default.yaml" />
   <!-- override default params -->
@@ -91,4 +81,4 @@
 
   </group>
 
-</launch>
+</launch>