From 9a263392fcb803fb9435fdbd7f6debc4c6c6d4ad Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Fri, 28 Aug 2020 17:07:00 +0800
Subject: [PATCH] removed scout_base_sim_node.cpp

---
 scout_base/src/scout_base_sim_node.cpp | 47 --------------------------
 1 file changed, 47 deletions(-)
 delete mode 100644 scout_base/src/scout_base_sim_node.cpp

diff --git a/scout_base/src/scout_base_sim_node.cpp b/scout_base/src/scout_base_sim_node.cpp
deleted file mode 100644
index acafbd9..0000000
--- a/scout_base/src/scout_base_sim_node.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#include <string>
-
-#include <ros/ros.h>
-#include <sensor_msgs/JointState.h>
-#include <tf/transform_broadcaster.h>
-#include <nav_msgs/Odometry.h>
-
-#include "wrp_sdk/platforms/scout/scout_base.hpp"
-#include "scout_base/scout_messenger.hpp"
-
-using namespace westonrobot;
-
-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>("port_name", port_name, std::string("can0"));
-    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;
-}
\ No newline at end of file