From cc4320cbec2506028399cc1ed6686e62685c2b6d Mon Sep 17 00:00:00 2001
From: Arthur Golubtsov <goldartt@gmail.com>
Date: Tue, 13 Aug 2019 23:11:58 +0300
Subject: [PATCH] builder: Remove files from custom clever-config dir

---
 builder/clever-config/launch/aruco.launch     | 37 ----------
 builder/clever-config/launch/clever.launch    | 71 -------------------
 .../clever-config/launch/main_camera.launch   | 37 ----------
 builder/clever-config/map/animation_map.txt   |  8 ---
 4 files changed, 153 deletions(-)
 delete mode 100644 builder/clever-config/launch/aruco.launch
 delete mode 100644 builder/clever-config/launch/clever.launch
 delete mode 100644 builder/clever-config/launch/main_camera.launch
 delete mode 100644 builder/clever-config/map/animation_map.txt

diff --git a/builder/clever-config/launch/aruco.launch b/builder/clever-config/launch/aruco.launch
deleted file mode 100644
index d7754d9..0000000
--- a/builder/clever-config/launch/aruco.launch
+++ /dev/null
@@ -1,37 +0,0 @@
-<launch>
-    <arg name="aruco_detect" default="true"/>
-    <arg name="aruco_map" default="true"/>
-    <arg name="aruco_vpe" default="true"/>
-
-    <!-- For additional help go to https://clever.copterexpress.com/aruco.html -->
-
-    <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <param name="estimate_poses" value="true"/>
-        <param name="send_tf" value="true"/>
-        <param name="known_tilt" value="map"/>
-        <param name="length" value="0.33"/>
-    </node>
-
-    <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="markers" to="aruco_detect/markers"/>
-        <param name="map" value="$(find aruco_pose)/map/animation_map.txt"/>
-        <param name="known_tilt" value="map"/>
-        <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
-        <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
-    </node>
-
-    <!-- vpe publisher from aruco markers -->
-    <node name="vpe_publisher" pkg="clever" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
-        <remap from="~pose_cov" to="aruco_map/pose"/>
-        <remap from="~vpe" to="mavros/vision_pose/pose"/>
-        <param name="frame_id" value="aruco_map_detected"/>
-        <param name="publish_zero" value="true"/>
-        <param name="offset_frame_id" value="aruco_map"/>
-    </node>
-</launch>
diff --git a/builder/clever-config/launch/clever.launch b/builder/clever-config/launch/clever.launch
deleted file mode 100644
index 1020ea2..0000000
--- a/builder/clever-config/launch/clever.launch
+++ /dev/null
@@ -1,71 +0,0 @@
-<launch>
-    <arg name="fcu_conn" default="usb"/>
-    <arg name="fcu_ip" default="127.0.0.1"/>
-    <arg name="gcs_bridge" default="tcp"/>
-    <arg name="web_video_server" default="true"/>
-    <arg name="rosbridge" default="true"/>
-    <arg name="main_camera" default="true"/>
-    <arg name="optical_flow" default="true"/>
-    <arg name="aruco" default="true"/>
-    <arg name="rc" default="true"/>
-    <arg name="rangefinder_vl53l1x" default="true"/>
-
-    <!-- mavros -->
-    <include file="$(find clever)/launch/mavros.launch">
-        <arg name="fcu_conn" value="$(arg fcu_conn)"/>
-        <arg name="fcu_ip" value="$(arg fcu_ip)"/>
-        <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
-    </include>
-
-    <!-- web video server -->
-    <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5">
-        <param name="default_stream_type" value="ros_compressed"/>
-        <param name="publish_rate" value="1.0"/>
-    </node>
-
-    <!-- aruco markers -->
-    <include file="$(find clever)/launch/aruco.launch" if="$(arg aruco)"/>
-
-    <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clever/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
-        <remap from="image_raw" to="main_camera/image_raw"/>
-        <remap from="camera_info" to="main_camera/camera_info"/>
-        <param name="calc_flow_gyro" value="true"/>
-    </node>
-
-    <!-- main nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
-        <param name="num_worker_threads" value="2"/>
-    </node>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="map_flipped_frame" args="0 0 0 3.1415926 3.1415926 0 map map_flipped"/>
-
-    <!-- simplified offboard control -->
-    <node name="simple_offboard" pkg="clever" type="simple_offboard" output="screen" clear_params="true">
-        <param name="reference_frames/body" value="map"/>
-        <param name="reference_frames/base_link" value="map"/>
-    </node>
-
-    <!-- Auxiliary frames -->
-    <node name="frames" pkg="clever" type="frames" output="screen">
-        <param name="body/frame_id" value="body"/>
-    </node>
-
-    <!-- main camera -->
-    <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
-
-    <!-- rosbridge -->
-    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
-
-    <!-- tf2 republisher for web visualization -->
-    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
-
-    <!-- vl53l1x ToF rangefinder -->
-    <node name="vl53l1x" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
-        <param name="frame_id" value="rangefinder"/>
-        <remap from="~range" to="mavros/distance_sensor/rangefinder_sub"/> <!-- redirect data to FCU -->
-    </node>
-
-    <!-- rc backend -->
-    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
-</launch>
diff --git a/builder/clever-config/launch/main_camera.launch b/builder/clever-config/launch/main_camera.launch
deleted file mode 100644
index 92bec22..0000000
--- a/builder/clever-config/launch/main_camera.launch
+++ /dev/null
@@ -1,37 +0,0 @@
-<launch>
-    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
-    <!-- static_transform_publisher arguments: x y z yaw pitch roll frame_id child_frame_id -->
-
-    <!-- article about camera setup: https://clever.copterexpress.com/camera_frame.html -->
-
-    <!-- camera is oriented downward, camera cable goes backward [option 1] -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
-
-    <!-- camera is oriented downward, camera cable goes forward  [option 2] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>-->
-
-    <!-- camera is oriented upward, camera cable goes backward   [option 3] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>-->
-
-    <!-- camera is oriented upward, camera cable goes forward    [option 4] -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>-->
-
-    <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
-        <param name="frame_id" value="main_camera_optical"/>
-        <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
-
-        <param name="rate" value="100"/> <!-- poll rate -->
-        <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
-        <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
-
-        <!-- camera resolution, NOTE: camera_info file should match it -->
-        <param name="image_width" value="320"/>
-        <param name="image_height" value="240"/>
-    </node>
-
-    <!-- camera visualization markers -->
-    <node pkg="clever" type="camera_markers" ns="main_camera" name="main_camera_markers">
-        <param name="scale" value="3.0"/>
-    </node>
-</launch>
diff --git a/builder/clever-config/map/animation_map.txt b/builder/clever-config/map/animation_map.txt
deleted file mode 100644
index 9a54274..0000000
--- a/builder/clever-config/map/animation_map.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-107	0.33	0	0	0	0	0	0
-106	0.33	0.77	0	0	0	0	0
-105	0.33	0	0.77	0	0	0	0
-104	0.33	0.77	0.77	0	0	0	0
-103	0.33	0	1.54	0	0	0	0
-102	0.33	0.77	1.54	0	0	0	0
-101	0.33	0	2.31	0	0	0	0
-100	0.33	0.77	2.31	0	0	0	0