Update GUI configuration and comment out unused launch actions

Author: paoloelle

turtlebot4_gz_bringup/gui/standard/gui.config

@@ -1,5 +1,13 @@
 <?xml version="1.0" ?>
 
+<window>
+    <position_x>-1</position_x>
+    <position_y>-1</position_y>
+    <state></state>
+    <width>500</width>
+    <height>500</height>
+</window>
+
 <!-- 3D scene -->
 <plugin filename="MinimalScene" name="3D View">
     <gz-gui>
@@ -71,7 +79,7 @@
 </plugin>
 
 <!-- Translate / rotate -->
-<plugin filename="TransformControl" name="Transform control">
+<!-- <plugin filename="TransformControl" name="Transform control">
   <gz-gui>
     <title>Transform control</title>
     <anchors target="3D View">
@@ -85,10 +93,10 @@
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
   </gz-gui>
-</plugin>
+</plugin> -->
 
 <!-- Insert simple shapes -->
-<plugin filename="Shapes" name="Shapes">
+<!-- <plugin filename="Shapes" name="Shapes">
   <gz-gui>
     <anchors target="Transform control">
       <line own="left" target="right"/>
@@ -101,24 +109,24 @@
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
   </gz-gui>
-</plugin>
+</plugin> -->
 
 <!-- HMI -->
-<plugin filename="Turtlebot4Hmi" name="Turtlebot4 HMI">
+<!-- <plugin filename="Turtlebot4Hmi" name="Turtlebot4 HMI">
   <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property type="double" key="height">200</property>
     <property key="resizable" type="bool">true</property>
   </gz-gui>
-</plugin>
+</plugin> -->
 
 <!-- Teleop -->
-<plugin filename="Teleop">
+<!-- <plugin filename="Teleop">
   <topic>/cmd_vel</topic>
   <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property key="resizable" type="bool">true</property>
   </gz-gui>
-</plugin>
+</plugin> -->

turtlebot4_gz_bringup/launch/ros_gz_bridge.launch.py

@@ -209,9 +209,9 @@ def generate_launch_description():
     # Define LaunchDescription variable
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(create3_bridge)
-    ld.add_action(hmi_display_msg_bridge)
-    ld.add_action(hmi_buttons_msg_bridge)
-    ld.add_action(hmi_led_msg_bridge)
+    # ld.add_action(hmi_display_msg_bridge)
+    # ld.add_action(hmi_buttons_msg_bridge)
+    # ld.add_action(hmi_led_msg_bridge)
     ld.add_action(lidar_bridge)
     ld.add_action(oakd_camera_bridge)
     return ld

turtlebot4_gz_bringup/launch/turtlebot4_nodes.launch.py

@@ -67,5 +67,5 @@ def generate_launch_description():
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(param_file_cmd)
     ld.add_action(turtlebot4_node)
-    ld.add_action(turtlebot4_gz_hmi_node)
+    # ld.add_action(turtlebot4_gz_hmi_node)
     return ld

turtlebot4_gz_bringup/launch/turtlebot4_spawn.launch.py

@@ -135,11 +135,11 @@ def generate_launch_description():
         ),
 
         # Dock description
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([dock_description_launch]),
-            # The robot starts docked
-            launch_arguments={'gazebo': 'ignition'}.items(),
-        ),
+        # IncludeLaunchDescription(
+        #     PythonLaunchDescriptionSource([dock_description_launch]),
+        #     # The robot starts docked
+        #     launch_arguments={'gazebo': 'ignition'}.items(),
+        # ),
 
         # Spawn TurtleBot 4
         Node(
@@ -155,25 +155,25 @@ def generate_launch_description():
         ),
 
         # Spawn Dock
-        Node(
-            package='ros_gz_sim',
-            executable='create',
-            arguments=['-name', dock_name,
-                       '-x', x_dock,
-                       '-y', y_dock,
-                       '-z', z,
-                       '-Y', yaw_dock,
-                       '-topic', 'standard_dock_description'],
-            output='screen',
-        ),
+        # Node(
+        #     package='ros_gz_sim',
+        #     executable='create',
+        #     arguments=['-name', dock_name,
+        #                '-x', x_dock,
+        #                '-y', y_dock,
+        #                '-z', z,
+        #                '-Y', yaw_dock,
+        #                '-topic', 'standard_dock_description'],
+        #     output='screen',
+        # ),
 
         # ROS IGN bridge
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([turtlebot4_ros_gz_bridge_launch]),
             launch_arguments=[
                 ('model', LaunchConfiguration('model')),
                 ('robot_name', robot_name),
-                ('dock_name', dock_name),
+                # ('dock_name', dock_name),
                 ('namespace', namespace)]
         ),
 
@@ -280,8 +280,8 @@ def generate_launch_description():
     ld = LaunchDescription(ARGUMENTS)
     ld.add_action(param_file_cmd)
     ld.add_action(spawn_robot_group_action)
-    ld.add_action(localization)
-    ld.add_action(slam)
-    ld.add_action(nav2)
-    ld.add_action(rviz)
+    # ld.add_action(localization)
+    # ld.add_action(slam)
+    # ld.add_action(nav2)
+    # ld.add_action(rviz)
     return ld