From 00a2808af45b45b0bf0e2a5a465443ed9c348a4d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Thu, 2 Nov 2023 17:07:45 +0000
Subject: [PATCH] Remove redundant ros2_control controller configuration

---
 leo_description/CMakeLists.txt          |  1 -
 leo_description/config/controllers.yaml | 50 -------------------------
 2 files changed, 51 deletions(-)
 delete mode 100644 leo_description/config/controllers.yaml

diff --git a/leo_description/CMakeLists.txt b/leo_description/CMakeLists.txt
index b27a888..4ab2a5c 100644
--- a/leo_description/CMakeLists.txt
+++ b/leo_description/CMakeLists.txt
@@ -5,7 +5,6 @@ find_package(ament_cmake REQUIRED)
 
 install(
   DIRECTORY
-    config
     launch
     models
     urdf
diff --git a/leo_description/config/controllers.yaml b/leo_description/config/controllers.yaml
deleted file mode 100644
index 4ca4bdc..0000000
--- a/leo_description/config/controllers.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 100
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    diff_drive_controller:
-      type: diff_drive_controller/DiffDriveController
-
-diff_drive_controller:
-  ros__parameters:
-    left_wheel_names: ['wheel_RL_joint', 'wheel_FL_joint']
-    right_wheel_names: ['wheel_RR_joint', 'wheel_FR_joint']
-
-    wheel_separation: 0.33
-    wheels_per_side: 2
-    wheel_radius: 0.0625
-    wheel_separation_multiplier: 1.91
-
-    pose_covariance_diagonal: [0.001, 0.001, 0.0, 0.0, 0.0, 0.03]
-    twist_covariance_diagonal: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.001]
-
-    base_frame_id: base_link
-    odom_frame_id: odom
-    enable_odom_tf: false
-    publish_rate: 20.0
-
-    open_loop: false
-
-    cmd_vel_timeout: 0.5
-    use_stamped_vel: false
-    velocity_rolling_window_size: 10
-
-    preserve_turning_radius: true
-
-    # Publish limited velocity
-    publish_limited_velocity: true
-
-    linear/x:
-      has_velocity_limits: true
-      max_velocity: 0.4
-      has_acceleration_limits: true
-      max_acceleration: 0.8
-
-    angular/z:
-      has_velocity_limits: true
-      max_velocity: 1.0
-      has_acceleration_limits: true
-      max_acceleration: 2.0
\ No newline at end of file