From 763eaf78df4076c9404641176e21f2594b53902d Mon Sep 17 00:00:00 2001
From: fan-ziqi <fanziqi614@gmail.com>
Date: Mon, 23 Dec 2024 10:33:20 +0800
Subject: [PATCH] fix: delete unused files

---
 src/rl_sar/launch/gazebo_a1_isaacgym.launch   | 54 -------------------
 src/rl_sar/launch/gazebo_a1_isaacsim.launch   | 54 -------------------
 src/rl_sar/launch/gazebo_go2_isaacgym.launch  | 54 -------------------
 .../launch/gazebo_gr1t1_isaacgym.launch       | 48 -----------------
 .../launch/gazebo_gr1t2_isaacgym.launch       | 48 -----------------
 5 files changed, 258 deletions(-)
 delete mode 100644 src/rl_sar/launch/gazebo_a1_isaacgym.launch
 delete mode 100644 src/rl_sar/launch/gazebo_a1_isaacsim.launch
 delete mode 100644 src/rl_sar/launch/gazebo_go2_isaacgym.launch
 delete mode 100644 src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
 delete mode 100644 src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch

diff --git a/src/rl_sar/launch/gazebo_a1_isaacgym.launch b/src/rl_sar/launch/gazebo_a1_isaacgym.launch
deleted file mode 100644
index 94c7457..0000000
--- a/src/rl_sar/launch/gazebo_a1_isaacgym.launch
+++ /dev/null
@@ -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="/$(arg rname)_gazebo/joint_states"/>
-    </node>
-
-</launch>
diff --git a/src/rl_sar/launch/gazebo_a1_isaacsim.launch b/src/rl_sar/launch/gazebo_a1_isaacsim.launch
deleted file mode 100644
index 208004d..0000000
--- a/src/rl_sar/launch/gazebo_a1_isaacsim.launch
+++ /dev/null
@@ -1,54 +0,0 @@
-<launch>
-    <arg name="wname" default="stairs"/>
-    <arg name="rname" default="a1"/>
-    <param name="robot_name" type="str" value="$(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="/$(arg rname)_gazebo/joint_states"/>
-    </node>
-
-</launch>
diff --git a/src/rl_sar/launch/gazebo_go2_isaacgym.launch b/src/rl_sar/launch/gazebo_go2_isaacgym.launch
deleted file mode 100644
index 838c95b..0000000
--- a/src/rl_sar/launch/gazebo_go2_isaacgym.launch
+++ /dev/null
@@ -1,54 +0,0 @@
-<launch>
-    <arg name="wname" default="stairs"/>
-    <arg name="rname" default="go2"/>
-    <param name="robot_name" type="str" value="$(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="/$(arg rname)_gazebo/joint_states"/>
-    </node>
-
-</launch>
diff --git a/src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch b/src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
deleted file mode 100644
index d653416..0000000
--- a/src/rl_sar/launch/gazebo_gr1t1_isaacgym.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<launch>
-    <arg name="wname" default="stairs"/>
-    <arg name="rname" default="gr1t1"/>
-    <param name="robot_name" type="str" value="$(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="/$(arg rname)_gazebo/joint_states"/>
-    </node>
-
-</launch>
diff --git a/src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch b/src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch
deleted file mode 100644
index 59119d0..0000000
--- a/src/rl_sar/launch/gazebo_gr1t2_isaacgym.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<launch>
-    <arg name="wname" default="stairs"/>
-    <arg name="rname" default="gr1t2"/>
-    <param name="robot_name" type="str" value="$(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>