From f19ef8c7a4ae29609c04af0d6987bfc07dbbe900 Mon Sep 17 00:00:00 2001
From: Michael <mrmccarr@nps.edu>
Date: Fri, 25 Sep 2020 15:43:37 -0700
Subject: [PATCH] remove demo that depends on eNOVUS mesh

---
 launch/uw_lidar.launch    | 31 -------------------
 urdf/uw_lidar_robot.xacro | 65 ---------------------------------------
 2 files changed, 96 deletions(-)
 delete mode 100644 launch/uw_lidar.launch
 delete mode 100644 urdf/uw_lidar_robot.xacro

diff --git a/launch/uw_lidar.launch b/launch/uw_lidar.launch
deleted file mode 100644
index 0890b68..0000000
--- a/launch/uw_lidar.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="gui" default="true"/>
-  <arg name="paused" default="true"/>
-  <arg name="world_name" default="$(find uuv_gazebo_worlds)/worlds/ocean_waves.world"/>
- 
-  <!-- use Gazebo's empty_world.launch with uuv_dave_ocean_waves.world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(arg world_name)"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="headless" value="false"/>
-    <arg name="debug" value="false"/>
-    <arg name="verbose" value="false"/>
-  </include>
-
-  <!-- Load and spawn the model, starts the joint & state publishers, make the model move -->
-  <param name="nps_uwl" command="$(find xacro)/xacro $(find nps_uw_sensors_gazebo)/urdf/uw_lidar_robot.xacro" />
-  <param name="model_name" type="str" value="nps_uwl"/>
-  <param name="base_link_name" type="str" value="robot_base_link"/>
-  <node name="spawn_uwl" pkg="gazebo_ros" type="spawn_model"
-        args="-z -1.0 -urdf -param nps_uwl -model nps_uwl" respawn="false" output="screen" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" respawn="false">
-    <remap from="robot_description" to="nps_uwl" />
-  </node>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
-    <remap from="robot_description" to="nps_uwl" />
-  </node>
-  <node name="apply_velocity" pkg="nps_uw_sensors_gazebo" type="simple_motion.py" respawn="false" output="screen"/>
-</launch>
diff --git a/urdf/uw_lidar_robot.xacro b/urdf/uw_lidar_robot.xacro
deleted file mode 100644
index 935815e..0000000
--- a/urdf/uw_lidar_robot.xacro
+++ /dev/null
@@ -1,65 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="uw_lidar">
-  <xacro:arg name="inertial_reference_frame" default="world"/>
-  <xacro:include filename="$(find nps_uw_sensors_gazebo)/urdf/uw_lidar.xacro"/>
-
-  <link name="robot_base_link"/>
-
-  <link name="robot_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="200"/>
-      <inertia
-        ixx="96.67" ixy="0.0" ixz="0.0"
-        iyy="158.17" iyz="0.0"
-        izz="146.83"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://nps_uw_sensors_gazebo/meshes/eNOVUS.dae"/>
-      </geometry>
-      <origin xyz="0 0 -0.4" rpy="0 0 ${0.5*pi}"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="2.5 1.6 1.8"/>
-      </geometry>
-      <origin xyz="-0.1 0 0.5" rpy="0 0 0"/>
-    </collision>
-  </link>
-
-  <joint name="robot_base_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="robot_base_link"/>
-    <child link="robot_link"/>
-  </joint>
-
-  <xacro:uwl_macro namespace="uwl" parent_link="robot_base_link" 
-                   inertial_reference_frame="$(arg inertial_reference_frame)"
-                   pan="0" tilt="0">
-    <origin xyz="0.48 0 1.41" rpy="0 0 ${pi/2}"/>
-  </xacro:uwl_macro>
-
-  <!-- Turn gravity (off) for now so that the (unpowered) robot doesn't sink like
-       a rock.  Can remove this once the neutral buoyancy issue (#4) is resolved -->
-  <gazebo reference="robot_link">
-    <turnGravityOff>true</turnGravityOff>
-  </gazebo>
-  <gazebo reference="uwl/uwl_link">
-    <turnGravityOff>true</turnGravityOff>
-  </gazebo>
-  <gazebo reference="uwl/uwl_mount_tray_link">
-    <turnGravityOff>true</turnGravityOff>
-  </gazebo>
-  <gazebo reference="uwl/uwl_mount_swivel_link">
-    <turnGravityOff>true</turnGravityOff>
-  </gazebo>
-  <gazebo reference="uwl/uwl_mount_base_link">
-    <turnGravityOff>true</turnGravityOff>
-  </gazebo>
-  <gazebo reference="uwl/uwl_sensor_link">
-    <turnGravityOff>true</turnGravityOff>
-  </gazebo>
-
-</robot>