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fix: delete unused files

This commit is contained in:
fan-ziqi 2024-12-23 10:33:20 +08:00
parent 6a53e1fa36
commit 763eaf78df
5 changed files with 0 additions and 258 deletions
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54
src/rl_sar/launch/gazebo_a1_isaacgym.launch
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@ -1,54 +0,0 @@
<launch>
<arg name="wname" default="stairs"/>
<arg name="rname" default="a1"/>
<param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
<param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<arg name="user_debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller "/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>
</launch>

54
src/rl_sar/launch/gazebo_a1_isaacsim.launch
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@ -1,54 +0,0 @@
<launch>
<arg name="wname" default="stairs"/>
<arg name="rname" default="a1"/>
<param name="robot_name" type="str" value="$(arg rname)_isaacsim"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
<param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<arg name="user_debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller "/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>
</launch>

54
src/rl_sar/launch/gazebo_go2_isaacgym.launch
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@ -1,54 +0,0 @@
<launch>
<arg name="wname" default="stairs"/>
<arg name="rname" default="go2"/>
<param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
<param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<arg name="user_debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller "/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>
</launch>

48
src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
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@ -1,48 +0,0 @@
<launch>
<arg name="wname" default="stairs"/>
<arg name="rname" default="gr1t1"/>
<param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
<param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" textfile="$(find gr1t1_description)/urdf/GR1T1_lower_limb.urdf"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 1.0 -model $(arg rname)_gazebo -param robot_description"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
l_hip_roll_controller l_hip_yaw_controller l_hip_pitch_controller l_knee_pitch_controller l_ankle_pitch_controller
r_hip_roll_controller r_hip_yaw_controller r_hip_pitch_controller r_knee_pitch_controller r_ankle_pitch_controller "/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>
</launch>

48
src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch
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@ -1,48 +0,0 @@
<launch>
<arg name="wname" default="stairs"/>
<arg name="rname" default="gr1t2"/>
<param name="robot_name" type="str" value="$(arg rname)_isaacgym"/>
<param name="ros_namespace" type="str" value="/$(arg rname)_gazebo/"/>
<param name="gazebo_model_name" type="str" value="$(arg rname)_gazebo"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rl_sar)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description" textfile="$(find gr1t2_description)/urdf/GR1T2_simple.urdf"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 1.0 -model $(arg rname)_gazebo -param robot_description"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
l_hip_roll_controller l_hip_yaw_controller l_hip_pitch_controller l_knee_pitch_controller l_ankle_pitch_controller
r_hip_roll_controller r_hip_yaw_controller r_hip_pitch_controller r_knee_pitch_controller r_ankle_pitch_controller "/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>
</launch>