fix: delete unused in control_launch (#200)

* fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml
autowarefoundation · Feb 10, 2022 · e0eba25 · e0eba25
1 parent bb6f0a5
commit e0eba25
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diff --git a/control_launch/config/velocity_controller/velocity_controller.param.yaml b/control_launch/config/velocity_controller/velocity_controller.param.yaml
diff --git a/control_launch/launch/control.launch.py b/control_launch/launch/control.launch.py
@@ -103,12 +103,6 @@ def launch_setup(context, *args, **kwargs):
         ],
         parameters=[
             lon_controller_param,
-            {
-                "control_rate": LaunchConfiguration("control_rate"),
-                "show_debug_info": LaunchConfiguration("show_debug_info"),
-                "enable_smooth_stop": LaunchConfiguration("enable_smooth_stop"),
-                "enable_pub_debug": LaunchConfiguration("enable_pub_debug"),
-            },
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
@@ -341,14 +335,6 @@ def add_launch_arg(name: str, default_value=None, description=None):
         [FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"],
     )
 
-    # velocity controller
-    add_launch_arg("control_rate", "30.0", "control rate")
-    add_launch_arg("show_debug_info", "false", "show debug information")
-    add_launch_arg(
-        "enable_smooth_stop", "true", "enable smooth stop (in velocity controller state)"
-    )
-    add_launch_arg("enable_pub_debug", "true", "enable to publish debug information")
-
     # vehicle cmd gate
     add_launch_arg("use_emergency_handling", "false", "use emergency handling")
     add_launch_arg("use_external_emergency_stop", "true", "use external emergency stop")