From 276f96c12a5d726804aaa792450dd4362e15a4f2 Mon Sep 17 00:00:00 2001
From: Ludovic Delval <ludovic.delval@ipa.fraunhofer.de>
Date: Tue, 2 Jul 2019 16:21:12 +0200
Subject: [PATCH] deleted ur_e gazebo repository

---
 ur_e_gazebo/CHANGELOG.rst                     | 10 -----
 ur_e_gazebo/CMakeLists.txt                    | 14 -------
 .../controller/arm_controller_ur10e.yaml      | 31 ----------------
 .../controller/arm_controller_ur3e.yaml       | 31 ----------------
 .../controller/arm_controller_ur5e.yaml       | 31 ----------------
 .../controller/joint_state_controller.yaml    |  3 --
 ur_e_gazebo/launch/controller_utils.launch    | 18 ---------
 ur_e_gazebo/launch/ur10e.launch               | 31 ----------------
 ur_e_gazebo/launch/ur10e_joint_limited.launch | 10 -----
 ur_e_gazebo/launch/ur3e.launch                | 31 ----------------
 ur_e_gazebo/launch/ur3e_joint_limited.launch  | 10 -----
 ur_e_gazebo/launch/ur5e.launch                | 31 ----------------
 ur_e_gazebo/launch/ur5e_joint_limited.launch  | 10 -----
 ur_e_gazebo/package.xml                       | 37 -------------------
 ur_e_gazebo/tests/roslaunch_test.xml          | 31 ----------------
 15 files changed, 329 deletions(-)
 delete mode 100644 ur_e_gazebo/CHANGELOG.rst
 delete mode 100644 ur_e_gazebo/CMakeLists.txt
 delete mode 100644 ur_e_gazebo/controller/arm_controller_ur10e.yaml
 delete mode 100644 ur_e_gazebo/controller/arm_controller_ur3e.yaml
 delete mode 100644 ur_e_gazebo/controller/arm_controller_ur5e.yaml
 delete mode 100644 ur_e_gazebo/controller/joint_state_controller.yaml
 delete mode 100644 ur_e_gazebo/launch/controller_utils.launch
 delete mode 100644 ur_e_gazebo/launch/ur10e.launch
 delete mode 100644 ur_e_gazebo/launch/ur10e_joint_limited.launch
 delete mode 100644 ur_e_gazebo/launch/ur3e.launch
 delete mode 100644 ur_e_gazebo/launch/ur3e_joint_limited.launch
 delete mode 100644 ur_e_gazebo/launch/ur5e.launch
 delete mode 100644 ur_e_gazebo/launch/ur5e_joint_limited.launch
 delete mode 100644 ur_e_gazebo/package.xml
 delete mode 100644 ur_e_gazebo/tests/roslaunch_test.xml

diff --git a/ur_e_gazebo/CHANGELOG.rst b/ur_e_gazebo/CHANGELOG.rst
deleted file mode 100644
index 3b57581ad..000000000
--- a/ur_e_gazebo/CHANGELOG.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package ur_e_gazebo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-1.2.5 (2019-04-05)
-------------------
-* First release (of this package)
-* Update maintainer listing: add Miguel (`#410 <https://github.com/ros-industrial/universal_robot/issues/410>`_)
-* UR-E Series (`#380 <https://github.com/ros-industrial/universal_robot/issues/380>`_)
-* Contributors: Dave Niewinski, gavanderhoorn
diff --git a/ur_e_gazebo/CMakeLists.txt b/ur_e_gazebo/CMakeLists.txt
deleted file mode 100644
index 045db89df..000000000
--- a/ur_e_gazebo/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(ur_e_gazebo)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-if (CATKIN_ENABLE_TESTING)
-  find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test.xml)
-endif()
-
-install(DIRECTORY launch controller DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ur_e_gazebo/controller/arm_controller_ur10e.yaml b/ur_e_gazebo/controller/arm_controller_ur10e.yaml
deleted file mode 100644
index fb7b3d4fe..000000000
--- a/ur_e_gazebo/controller/arm_controller_ur10e.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-arm_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-  constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-  stop_trajectory_duration: 0.5
-  state_publish_rate:  25
-  action_monitor_rate: 10
-joint_group_position_controller:
-  type: position_controllers/JointGroupPositionController
-  joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
diff --git a/ur_e_gazebo/controller/arm_controller_ur3e.yaml b/ur_e_gazebo/controller/arm_controller_ur3e.yaml
deleted file mode 100644
index fb7b3d4fe..000000000
--- a/ur_e_gazebo/controller/arm_controller_ur3e.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-arm_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-  constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-  stop_trajectory_duration: 0.5
-  state_publish_rate:  25
-  action_monitor_rate: 10
-joint_group_position_controller:
-  type: position_controllers/JointGroupPositionController
-  joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
diff --git a/ur_e_gazebo/controller/arm_controller_ur5e.yaml b/ur_e_gazebo/controller/arm_controller_ur5e.yaml
deleted file mode 100644
index fb7b3d4fe..000000000
--- a/ur_e_gazebo/controller/arm_controller_ur5e.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-arm_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-  constraints:
-      goal_time: 0.6
-      stopped_velocity_tolerance: 0.05
-      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
-      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
-  stop_trajectory_duration: 0.5
-  state_publish_rate:  25
-  action_monitor_rate: 10
-joint_group_position_controller:
-  type: position_controllers/JointGroupPositionController
-  joints:
-     - shoulder_pan_joint
-     - shoulder_lift_joint
-     - elbow_joint
-     - wrist_1_joint
-     - wrist_2_joint
-     - wrist_3_joint
-
diff --git a/ur_e_gazebo/controller/joint_state_controller.yaml b/ur_e_gazebo/controller/joint_state_controller.yaml
deleted file mode 100644
index 0cd5bb707..000000000
--- a/ur_e_gazebo/controller/joint_state_controller.yaml
+++ /dev/null
@@ -1,3 +0,0 @@
-joint_state_controller:
-    type: joint_state_controller/JointStateController
-    publish_rate: 50  
diff --git a/ur_e_gazebo/launch/controller_utils.launch b/ur_e_gazebo/launch/controller_utils.launch
deleted file mode 100644
index 8bfdf0114..000000000
--- a/ur_e_gazebo/launch/controller_utils.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0" />
-    <param name="tf_prefix" type="string" value="" />
-  </node>
-
-  <!-- Fake Calibration -->
-  <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
-        args="pub /calibrated std_msgs/Bool true" />
-  
-  <!-- joint_state_controller -->
-  <rosparam file="$(find ur_e_gazebo)/controller/joint_state_controller.yaml" command="load"/>
-  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
-  
-</launch>
diff --git a/ur_e_gazebo/launch/ur10e.launch b/ur_e_gazebo/launch/ur10e.launch
deleted file mode 100644
index ec37fd536..000000000
--- a/ur_e_gazebo/launch/ur10e.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-  
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_e_description)/launch/ur10e_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
-  </include>
-
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
-
-  <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur10e.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
-
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
-</launch>
diff --git a/ur_e_gazebo/launch/ur10e_joint_limited.launch b/ur_e_gazebo/launch/ur10e_joint_limited.launch
deleted file mode 100644
index 59b0825ee..000000000
--- a/ur_e_gazebo/launch/ur10e_joint_limited.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <include file="$(find ur_e_gazebo)/launch/ur10e.launch">
-    <arg name="limited" value="true"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-</launch>
diff --git a/ur_e_gazebo/launch/ur3e.launch b/ur_e_gazebo/launch/ur3e.launch
deleted file mode 100644
index 31bc8dcb8..000000000
--- a/ur_e_gazebo/launch/ur3e.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-  
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_e_description)/launch/ur3e_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
-  </include>
-
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
-
-  <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur3e.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
-
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
-</launch>
diff --git a/ur_e_gazebo/launch/ur3e_joint_limited.launch b/ur_e_gazebo/launch/ur3e_joint_limited.launch
deleted file mode 100644
index b8d118879..000000000
--- a/ur_e_gazebo/launch/ur3e_joint_limited.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <include file="$(find ur_e_gazebo)/launch/ur3e.launch">
-    <arg name="limited" value="true"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-</launch>
diff --git a/ur_e_gazebo/launch/ur5e.launch b/ur_e_gazebo/launch/ur5e.launch
deleted file mode 100644
index 756549339..000000000
--- a/ur_e_gazebo/launch/ur5e.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="limited" default="false"  doc="If true, limits joint range [-PI, PI] on all joints." />
-  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-  
-  <!-- startup simulated world -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-  <!-- send robot urdf to param server -->
-  <include file="$(find ur_e_description)/launch/ur5e_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
-  </include>
-
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
-
-  <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/>
-
-  <!-- start this controller -->
-  <rosparam file="$(find ur_e_gazebo)/controller/arm_controller_ur5e.yaml" command="load"/>
-  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
-
-  <!-- load other controllers -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load joint_group_position_controller" />
-
-</launch>
diff --git a/ur_e_gazebo/launch/ur5e_joint_limited.launch b/ur_e_gazebo/launch/ur5e_joint_limited.launch
deleted file mode 100644
index e260acbd4..000000000
--- a/ur_e_gazebo/launch/ur5e_joint_limited.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="gui" default="true" doc="Starts gazebo gui" />
-
-  <include file="$(find ur_e_gazebo)/launch/ur5e.launch">
-    <arg name="limited" value="true"/>
-    <arg name="gui" value="$(arg gui)"/>
-  </include>
-
-</launch>
diff --git a/ur_e_gazebo/package.xml b/ur_e_gazebo/package.xml
deleted file mode 100644
index 09197961b..000000000
--- a/ur_e_gazebo/package.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>ur_e_gazebo</name>
-  <version>1.2.5</version>
-  <description>
-      Gazebo wrapper for the Universal UR5/10 robot arms.
-  </description>
-
-
-  <author>Alexander Bubeck</author>
-  <author>Shaun Edwards</author>
-  <author>Felix Messmer</author>
-  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
-  <maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer>
-  <maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer>
-
-  <license>BSD</license>
-
-  <url type="website">http://ros.org/wiki/ur_e_gazebo</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <test_depend>roslaunch</test_depend>
-  <run_depend>controller_manager</run_depend>
-  <run_depend>effort_controllers</run_depend>
-  <run_depend>joint_state_controller</run_depend>
-  <run_depend>joint_trajectory_controller</run_depend>
-  <run_depend>gazebo_ros</run_depend>
-  <run_depend>gazebo_ros_control</run_depend>
-  <run_depend>position_controllers</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <run_depend>rostopic</run_depend>
-  <run_depend>ur_e_description</run_depend>
-
-
-  <export>
-  </export>
-</package>
diff --git a/ur_e_gazebo/tests/roslaunch_test.xml b/ur_e_gazebo/tests/roslaunch_test.xml
deleted file mode 100644
index f95ac6a7a..000000000
--- a/ur_e_gazebo/tests/roslaunch_test.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <group ns="ur3e__">
-    <include file="$(find ur_e_gazebo)/launch/ur3e.launch"/>
-  </group>
-
-  <group ns="ur5e__">
-    <include file="$(find ur_e_gazebo)/launch/ur5e.launch"/>
-  </group>
-
-  <group ns="ur10e__">
-    <include file="$(find ur_e_gazebo)/launch/ur10e.launch"/>
-  </group>
-
-  <group ns="ur3e_joint_limited__">
-    <include file="$(find ur_e_gazebo)/launch/ur3e_joint_limited.launch"/>
-  </group>
-
-  <group ns="ur5e_joint_limited__">
-    <include file="$(find ur_e_gazebo)/launch/ur5e_joint_limited.launch"/>
-  </group>
-
-  <group ns="ur10e_joint_limited__">
-    <include file="$(find ur_e_gazebo)/launch/ur10e_joint_limited.launch"/>
-  </group>
-
-  <group ns="controller_utils__">
-    <include file="$(find ur_e_gazebo)/launch/controller_utils.launch"/>
-  </group>
-
-</launch>