From cd828280d132a8358e56da96302c8a28f6be7ad3 Mon Sep 17 00:00:00 2001
From: AydenBravender <aydenbravender@gmail.com>
Date: Tue, 21 Jan 2025 16:06:20 -0700
Subject: [PATCH] singular launch file for arm

---
 kipp_arm/src/teleop/launch/arm.launch.py | 60 ------------------------
 1 file changed, 60 deletions(-)
 delete mode 100644 kipp_arm/src/teleop/launch/arm.launch.py

diff --git a/kipp_arm/src/teleop/launch/arm.launch.py b/kipp_arm/src/teleop/launch/arm.launch.py
deleted file mode 100644
index ed95325..0000000
--- a/kipp_arm/src/teleop/launch/arm.launch.py
+++ /dev/null
@@ -1,60 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch.actions import TimerAction, DeclareLaunchArgument
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_demo_launch
-import subprocess
-
-
-def generate_launch_description():
-    
-    param_file = os.path.join(get_package_share_directory("moveit_spear"), "config", "moveit_servo_config.yaml")
-
-    joystick_conv = TimerAction(
-        period=3.0,
-        actions=[Node(
-            package='teleop',
-            executable='SPEAR_Arm_Node',
-        )]
-    )
-
-    joy_input = Node(
-        package='teleop',
-        executable='Joystick_Input',
-    )
-
-    # Integrate the small launch file functionality
-    moveit_config = MoveItConfigsBuilder("SPEAR_Arm", package_name="moveit_spear").to_moveit_configs()
-    demo_launch = generate_demo_launch(moveit_config)  # This should handle RViz implicitly
-    
-    servo_node = Node(
-        package="moveit_servo",
-        executable="servo_node_main",
-        name='arm_servo',
-        parameters=[
-            param_file,
-            moveit_config.robot_description_kinematics,
-            moveit_config.robot_description_semantic,
-            moveit_config.robot_description
-        ],
-        arguments=['--ros-args', '--log-level', 'INFO'],
-        output='screen',
-    )
-
-    # Initialize the LaunchDescription object
-    ld = LaunchDescription()
-    ld.add_action(joy_input)
-    ld.add_action(joystick_conv)
-    ld.add_action(demo_launch)  # Adding the demo launch, which sets up RViz
-    ld.add_action(servo_node)
-
-    # Call the ROS2 service to start the servo
-    try:
-        subprocess.run(['ros2', 'service', 'call', '/arm_servo/start_servo', 'std_srvs/srv/Trigger', '{}'], check=True)
-    except subprocess.CalledProcessError as e:
-        print(f"Service call failed: {e}")
-
-    return ld