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Remove easy_fleet param from launch #194

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merged 3 commits into from
Jan 30, 2024
Merged

Remove easy_fleet param from launch #194

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0365df7
Remove easy_fleet param from launch
xiyuoh Sep 13, 2023
7ad728e
Merge branch 'main' into xiyu/cleanup_launch
Yadunund Jan 29, 2024
3ad9442
Merge branch 'main' into xiyu/cleanup_launch
Yadunund Jan 30, 2024
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28 changes: 1 addition & 27 deletions rmf_demos_fleet_adapter/launch/fleet_adapter.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,6 @@
<arg name="config_file" description="The config file that provides important parameters for setting up the adapter"/>
<arg name="nav_graph_file" description="The graph that this fleet should use for navigation"/>
<arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
<arg name="easy_fleet" default="false" description="Set to true if using the EasyFullControl fleet adapter"/>
<arg name="output" default="screen"/>

<!-- Fleet manager -->
Expand All @@ -18,33 +17,8 @@
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>

<!-- EasyFullControl fleet adapter -->
<group if="$(var easy_fleet)">
<group if="$(var use_sim_time)">
<node pkg="rmf_demos_fleet_adapter"
exec="easy_fleet_adapter"
args="-c $(var config_file) -n $(var nav_graph_file) -sim"
output="both">

<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="server_uri" value="$(var server_uri)"/>
</node>
</group>

<group unless="$(var use_sim_time)">
<node pkg="rmf_demos_fleet_adapter"
exec="easy_fleet_adapter"
args="-c $(var config_file) -n $(var nav_graph_file)"
output="both">

<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="server_uri" value="$(var server_uri)"/>
</node>
</group>
</group>

<!-- Fleet adapter -->
<group unless="$(var easy_fleet)">
<group>
<group if="$(var use_sim_time)">
<node pkg="rmf_demos_fleet_adapter"
exec="fleet_adapter"
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2 changes: 0 additions & 2 deletions rmf_demos_fleet_adapter/setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,6 @@
'console_scripts': [
'fleet_adapter=rmf_demos_fleet_adapter.fleet_adapter:main',
'fleet_manager=rmf_demos_fleet_adapter.fleet_manager:main',
'easy_fleet_adapter='
'rmf_demos_fleet_adapter.easy_fleet_adapter:main',
],
},
)
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