Revert "Kirigirisu merge feature added" (#24)

Reverts reazon-research/openarm_ros2#23

openarm_bimanual_description/CMakeLists.txt

@@ -33,9 +33,4 @@ install(DIRECTORY launch meshes rviz urdf worlds
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(PROGRAMS
-  scripts/joint_state_merger.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 ament_package()

openarm_bimanual_description/launch/display.launch.py

@@ -94,7 +94,7 @@ def generate_launch_description():
             ),
             launch.actions.DeclareLaunchArgument(
                 name="gui",
-                default_value="true",
+                default_value="True",
                 description="Flag to enable joint_state_publisher_gui",
             ),
             launch.actions.DeclareLaunchArgument(

openarm_bimanual_description/launch/kirigirisu.launch.py

@@ -1,70 +0,0 @@
-import xacro
-from pathlib import Path
-
-from launch import LaunchDescription
-import launch_ros
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-def generate_launch_description():
-    pkg_share = Path(
-        launch_ros.substitutions.FindPackageShare(package="openarm_bimanual_description").find(
-            "openarm_bimanual_description"
-        )
-    )
-    default_model_path = pkg_share / "urdf/openarm_bimanual.urdf.xacro"
-    default_rviz_config_path = pkg_share / "rviz/robot_description.rviz"
-
-    # Parse xacro to get robot_description XML
-    doc = xacro.process_file(str(default_model_path))
-    robot_description_xml = doc.toxml()
-
-    # Directly read udrf file (no xacro)
-    # robot_description_xml = Path(default_model_path).read_text()
-
-    # Node to publish joint states from /joint_states topic or GUI
-    joint_state_publisher_node = Node(
-        package="joint_state_publisher",
-        executable="joint_state_publisher",
-        name="joint_state_publisher",
-        output="screen",
-        parameters=[{"use_sim_time": False}],
-    )
-
-    # Node to publish robot state TFs based on robot_description and /joint_states
-    robot_state_publisher_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="robot_state_publisher",
-        output="screen",
-        parameters=[
-            {"robot_description": robot_description_xml,
-             "use_sim_time": False}
-        ],
-    )
-
-    # RViz node to visualize the robot model and TF
-    rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="screen",
-        arguments=["-d", str(default_rviz_config_path)],
-        parameters=[{"use_sim_time": False}],
-    )
-
-    joint_state_merger_node = Node(
-        package="openarm_bimanual_description",
-        executable="joint_state_merger.py",
-        name="joint_state_merger",
-        output="screen",
-        parameters=[{"urdf_path": str(default_model_path)}],
-    )
-
-
-    return LaunchDescription([
-        #joint_state_publisher_node,
-        robot_state_publisher_node,
-        joint_state_merger_node,
-        rviz_node,
-    ])

openarm_bimanual_description/scripts/joint_state_merger.py

@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import JointState
-from urdf_parser_py.urdf import URDF
-from pathlib import Path
-import xacro
-
-class JointStateMerger(Node):
-    def __init__(self):
-        super().__init__('joint_state_merger')
-
-        # Get URDF file parameter
-        urdf_path = self.declare_parameter('urdf_path', '').get_parameter_value().string_value
-        if not urdf_path or not Path(urdf_path).exists():
-            self.get_logger().error(f"Invalid or missing URDF path: {urdf_path}")
-            rclpy.shutdown()
-            return
-
-        # Parse URDF directly from file (not xacro)
-        # self.robot = URDF.from_xml_file(urdf_path)
-
-        # Process xacro and parse URDF
-        doc = xacro.process_file(urdf_path)
-        robot_description_xml = doc.toxml()
-        self.robot = URDF.from_xml_string(robot_description_xml)
-
-        # Initialize full joint position dict with zeros
-        self.joint_positions = {
-            j.name: 0.0 for j in self.robot.joints if j.type != 'fixed'
-        }
-        self.joint_names = list(self.joint_positions.keys())
-
-        # Store joint limits (min/max) for normalization
-        self.joint_limits = {
-            j.name: (j.limit.lower, j.limit.upper) if j.limit else (-3.14, 3.14)
-            for j in self.robot.joints if j.type != 'fixed'
-        }
-
-        # Publisher for merged joint states
-        self.joint_state_pub = self.create_publisher(JointState, '/joint_states', 10)
-
-        # Subscription to your partial updates — change topic & msg type as needed
-        self.partial_update_sub = self.create_subscription(
-            JointState, '/joint_states_partial', self.partial_update_callback, 10
-        )
-
-        # Optionally subscribe to existing /joint_states to keep current positions up to date
-        self.existing_joint_states_sub = self.create_subscription(
-            JointState, '/joint_states', self.existing_joint_states_callback, 10
-        )
-
-        # Timer to publish merged joint states regularly
-        self.timer = self.create_timer(0.05, self.publish_merged_joint_states)
-
-    def partial_update_callback(self, msg: JointState):
-        for name, pos in zip(msg.name, msg.position):
-            if name in self.joint_positions:
-                self.joint_positions[name] = pos
-
-    def existing_joint_states_callback(self, msg: JointState):
-        for name, pos in zip(msg.name, msg.position):
-            if name in self.joint_positions:
-                self.joint_positions[name] = pos
-
-    def publish_merged_joint_states(self):
-        msg = JointState()
-        msg.header.stamp = self.get_clock().now().to_msg()
-        msg.name = self.joint_names
-        msg.position = [self.joint_positions[n] for n in self.joint_names]
-        self.joint_state_pub.publish(msg)
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = JointStateMerger()
-    rclpy.spin(node)
-    rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()

openarm_hardware/test/test_openarm_hardware.cpp

@@ -17,9 +17,7 @@
 
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
 #include "hardware_interface/resource_manager.hpp"
-
 #include "ros2_control_test_assets/components_urdfs.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
@@ -126,9 +124,5 @@ class TestOpenArmHW : public ::testing::Test {
 TEST_F(TestOpenArmHW, load_openarm_hardware_7dof) {
   auto urdf = ros2_control_test_assets::urdf_head + openarm_hardware_7dof_ +
               ros2_control_test_assets::urdf_tail;
-  ASSERT_NO_THROW({
+  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
-    auto logger = rclcpp::get_logger("test_logger");
-    auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
-    hardware_interface::ResourceManager rm(urdf, clock, logger, true, 0);
-  });
 }