From 82311cbed29e1d392e8d46c44958b91d258b4421 Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Mon, 6 Jan 2025 15:52:03 +0800
Subject: [PATCH] Move RMF orchestator to RMF launch file

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 .../launch/control_center.launch.py               | 15 ---------------
 nexus_integration_tests/launch/office.launch.xml  |  5 +++++
 2 files changed, 5 insertions(+), 15 deletions(-)

diff --git a/nexus_integration_tests/launch/control_center.launch.py b/nexus_integration_tests/launch/control_center.launch.py
index c22a013..3d7aa7c 100644
--- a/nexus_integration_tests/launch/control_center.launch.py
+++ b/nexus_integration_tests/launch/control_center.launch.py
@@ -118,20 +118,6 @@ def launch_setup(context, *args, **kwargs):
         get_package_share_directory("nexus_integration_tests"), "rviz", "nexus_panel.rviz"
     )
 
-    rmf_transporter_node = LifecycleNode(
-        name="rmf_nexus_transporter",
-        namespace="",
-        package="nexus_workcell_orchestrator",
-        executable="nexus_workcell_orchestrator",
-        parameters=[
-            {
-                "capabilities": ["nexus::capabilities::RMFRequestCapability"],
-                "bt_path": (FindPackageShare("nexus_integration_tests"), "/config/rmf_bts"),
-            }
-        ],
-        arguments=['--ros-args', '--log-level', 'info'],
-    )
-
     system_orchestrator_node = LifecycleNode(
         name="system_orchestrator",
         namespace="",
@@ -186,7 +172,6 @@ def launch_setup(context, *args, **kwargs):
     return [
         SetEnvironmentVariable("ROS_DOMAIN_ID", ros_domain_id),
         system_orchestrator_node,
-        rmf_transporter_node,
         transporter_node,
         mock_emergency_alarm_node,
         nexus_panel,
diff --git a/nexus_integration_tests/launch/office.launch.xml b/nexus_integration_tests/launch/office.launch.xml
index 04d947b..b573813 100644
--- a/nexus_integration_tests/launch/office.launch.xml
+++ b/nexus_integration_tests/launch/office.launch.xml
@@ -28,6 +28,11 @@
     </include>
   </group>
 
+  <node pkg="nexus_workcell_orchestrator" exec="nexus_workcell_orchestrator" name="rmf_nexus_transporter" output="both">
+    <param name="capabilities" value="[nexus::capabilities::RMFRequestCapability]"/>
+    <param name="bt_path" value="$(find-pkg-share nexus_integration_tests)/config/rmf_bts"/>
+  </node>
+
   <!-- Simulator launch -->
   <include if="$(var use_simulator)" file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="headless" value="$(var headless)" />