merged normal and sim code for scout_base

scout_base/CMakeLists.txt

@@ -51,10 +51,6 @@ set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
 add_executable(scout_base_node src/scout_base_node.cpp)
 target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
 
-add_executable(scout_base_sim_node src/scout_base_sim_node.cpp)
-target_link_libraries(scout_base_sim_node scout_messenger ${catkin_LIBRARIES})
-
-
 #############
 ## Install ##
 #############

scout_base/src/scout_base_sim_node.cpp

@@ -1,46 +0,0 @@
-#include <string>
-
-#include <ros/ros.h>
-#include <sensor_msgs/JointState.h>
-#include <tf/transform_broadcaster.h>
-#include <nav_msgs/Odometry.h>
-
-#include "scout_sdk/scout_base.hpp"
-#include "scout_base/scout_messenger.hpp"
-
-using namespace wescore;
-
-int main(int argc, char **argv)
-{
-    // setup ROS node
-    ros::init(argc, argv, "scout_odom");
-    ros::NodeHandle node(""), private_node("~");
-
-    // instantiate a robot object
-    ScoutBase robot;
-    ScoutROSMessenger messenger(&robot, &node);
-
-    // fetch parameters before connecting to robot
-    std::string port_name;
-    private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
-    private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
-    private_node.param<bool>("simulated_robot", messenger.simulated_robot_, true);
-    private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
-
-    // no connection for simulated robot
-    // setup ROS subscription
-    messenger.SetupSubscription();
-
-    // publish robot state at 50Hz while listening to twist commands
-    double linear, angular;
-    ros::Rate rate_50hz(50); // 50Hz
-    while (true)
-    {
-        messenger.GetCurrentMotionCmdForSim(linear, angular);
-        messenger.PublishSimStateToROS(linear, angular);
-        ros::spinOnce();
-        rate_50hz.sleep();
-    }
-
-    return 0;
-}

scout_gazebo_sim/launch/scout_empty_world.launch

@@ -1,5 +1,4 @@
 <launch>
-
     <arg name="robot_namespace" default="/"/>
     <arg name="world_name" default="$(find scout_gazebo_sim)worlds/weston_robot_empty.world"/>