test_pass

husarion · Dec 12, 2023 · 34443b8 · 34443b8
1 parent d792601
commit 34443b8
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Showing 5 changed files with 2 additions and 16 deletions.
diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py
@@ -60,7 +60,6 @@ def generate_launch_description():
         description="Add LiDAR model to the robot URDF",
         choices=[
             "None",
-            "ouster_os1_32",
             "slamtec_rplidar_a2",
             "slamtec_rplidar_a3",
             "slamtec_rplidar_s1",

diff --git a/rosbot_xl_controller/launch/controller.launch.py b/rosbot_xl_controller/launch/controller.launch.py
@@ -66,7 +66,6 @@ def generate_launch_description():
         description="Add LiDAR model to the robot URDF",
         choices=[
             "None",
-            "ouster_os1_32",
             "slamtec_rplidar_a2",
             "slamtec_rplidar_a3",
             "slamtec_rplidar_s1",

diff --git a/rosbot_xl_controller/test/test_xacro.py b/rosbot_xl_controller/test/test_xacro.py
@@ -25,10 +25,11 @@ def test_rosbot_description_parsing():
     simulation_engine_values = ["ignition-gazebo", "webots"]  # 'gazebo-classic'
     lidar_model = [
         "None",
-        "ouster_os1_32",
         "slamtec_rplidar_a2",
         "slamtec_rplidar_a3",
         "slamtec_rplidar_s1",
+        "slamtec_rplidar_s2",
+        "slamtec_rplidar_s3",
         "velodyne_puck",
     ]
     camera_model = [

diff --git a/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro b/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro
@@ -34,18 +34,6 @@
   <!-- use_gpu has to be set to true, CPU lidar doesn't work in ignition -
     https://github.com/gazebosim/gz-sensors/issues/26 -->
 
-  <xacro:if value="${lidar_model == 'ouster_os1_32'}">
-    <xacro:include filename="$(find ros_components_description)/urdf/ouster_os1_32.urdf.xacro"
-      ns="lidar" />
-    <xacro:lidar.ouster_os1_32
-      parent_link="${lidar_parent_link}"
-      xyz="${lidar_xyz}"
-      rpy="${lidar_rpy}"
-      use_gpu="${lidar_use_gpu}"
-      simulation_engine="$(arg simulation_engine)"
-      topic="velodyne_points" />
-  </xacro:if>
-
   <xacro:if value="${lidar_model == 'slamtec_rplidar_s1'}">
     <xacro:include filename="$(find ros_components_description)/urdf/slamtec_rplidar_s1.urdf.xacro"
       ns="lidar" />

diff --git a/rosbot_xl_gazebo/launch/simulation.launch.py b/rosbot_xl_gazebo/launch/simulation.launch.py
@@ -175,7 +175,6 @@ def generate_launch_description():
         description="Add LiDAR model to the robot URDF",
         choices=[
             "None",
-            "ouster_os1_32",
             "slamtec_rplidar_a2",
             "slamtec_rplidar_a3",
             "slamtec_rplidar_s1",