disable_peripherals

luxonis · Nov 29, 2023 · a7e1818 · a7e1818
1 parent 6489927
commit a7e1818
Showing 1 changed file with 0 additions and 9 deletions.
diff --git a/rae_hw/launch/control.launch.py b/rae_hw/launch/control.launch.py
@@ -18,8 +18,6 @@ def launch_setup(context, *args, **kwargs):
     robot_description = {'robot_description': rae_description_config.toxml()}
     controller = os.path.join(get_package_share_directory(
         'rae_hw'), 'config', 'controller.yaml')
-    run_container = LaunchConfiguration('run_container', default='true')
-    enable_battery_status = LaunchConfiguration('enable_battery_status', default='true')
     enable_localization = LaunchConfiguration('enable_localization', default='false')
     return [
         IncludeLaunchDescription(
@@ -59,20 +57,13 @@ def launch_setup(context, *args, **kwargs):
             arguments=['joint_state_broadcaster',
                        '--controller-manager', '/controller_manager'],
         ),
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory('rae_hw'), 'launch', 'peripherals.launch.py')),
-            launch_arguments={'run_container': run_container,
-                              'enable_battery_status': enable_battery_status}.items()
-        ),
     ]
 
 
 def generate_launch_description():
     declared_arguments = [
         DeclareLaunchArgument('name', default_value='rae'),
         DeclareLaunchArgument('run_container', default_value='true'),
-        DeclareLaunchArgument('enable_battery_status', default_value='true'),
         DeclareLaunchArgument('enable_localization', default_value='false')
     ]