Remove moveit from demo

ros2_grasp_service_demo/manipulator_simulation/launch/manipulator_simulation_bringup.launch.py

@@ -4,22 +4,9 @@
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration, PythonExpression
 
 
 def generate_launch_description():
-    use_open_manipulator = DeclareLaunchArgument(
-        "use_open_manipulator",
-        default_value="False",
-        description="Launch simulation with open manipulator.",
-    )
-
-    use_6dof_manipulator = DeclareLaunchArgument(
-        "use_6dof_manipulator",
-        default_value="False",
-        description="Launch simulation with custom 6DoF manipulator.",
-    )
     manipulator_simulation = get_package_share_directory("manipulator_simulation")
 
     manipulator_spawner = Node(
@@ -28,15 +15,6 @@ def generate_launch_description():
         arguments=["-entity", "manipulator", "-topic", "robot_description"],
         output="screen",
         emulate_tty=True,
-        condition=IfCondition(
-            PythonExpression(
-                [
-                    LaunchConfiguration("use_open_manipulator"),
-                    " or ",
-                    LaunchConfiguration("use_6dof_manipulator"),
-                ]
-            )
-        ),
     )
 
     open_manipulator_bringup = IncludeLaunchDescription(
@@ -46,22 +24,10 @@ def generate_launch_description():
                 "/launch/open_manipulator_bringup.launch.py",
             ]
         ),
-        condition=IfCondition(LaunchConfiguration("use_open_manipulator")),
-    )
-    manipulator_6dof_bringup = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                get_package_share_directory("manipulator_6dof_bringup"),
-                "/launch/manipulator_6dof_bringup.launch.py",
-            ]
-        ),
-        condition=IfCondition(LaunchConfiguration("use_6dof_manipulator")),
     )
 
     return LaunchDescription(
         [
-            use_open_manipulator,
-            use_6dof_manipulator,
             DeclareLaunchArgument(
                 name="world",
                 default_value=os.path.join(manipulator_simulation, "worlds", "default_world.world"),
@@ -78,6 +44,5 @@ def generate_launch_description():
             ),
             manipulator_spawner,
             open_manipulator_bringup,
-            manipulator_6dof_bringup,
         ]
     )

ros2_grasp_service_demo/open_manipulator/open_manipulator_bringup/launch/open_manipulator_bringup.launch.py

@@ -13,14 +13,6 @@ def generate_launch_description():
             [get_package_share_directory("open_manipulator_control"), "/launch/control.launch.py"]
         )
     )
-    open_manipulator_moveit = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                get_package_share_directory("open_manipulator_moveit"),
-                "/launch/move_group_with_rviz.launch.py",
-            ]
-        )
-    )
 
     config = PathJoinSubstitution(
         [
@@ -37,4 +29,4 @@ def generate_launch_description():
         emulate_tty=True,
     )
 
-    return LaunchDescription([open_manipulator_control, open_manipulator_moveit, grasp_service_node])
+    return LaunchDescription([open_manipulator_control, grasp_service_node])