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Remove redundant robot_dscription node from bringup #153

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merged 1 commit into from
Jul 25, 2023
Merged

Remove redundant robot_dscription node from bringup #153

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12 changes: 1 addition & 11 deletions panther_bringup/launch/bringup.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand Down Expand Up @@ -91,4 +81,4 @@

</group>

</launch>
</launch>
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