Remove seperate publisher and subscriber nodelet.

nasa · Nov 20, 2023 · e9d9d6a · e9d9d6a
1 parent 40cc391
commit e9d9d6a
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Showing 2 changed files with 4 additions and 19 deletions.
diff --git a/astrobee/launch/robot/MLP.launch b/astrobee/launch/robot/MLP.launch
@@ -297,18 +297,8 @@
     <arg name="default" value="$(arg dds)" />
   </include>
   <include file="$(find ff_util)/launch/ff_nodelet.launch">
-    <arg name="class" value="comms_bridge/BridgeSubscriberNodelet" />
-    <arg name="name" value="comms_bridge_sub" />
-    <arg name="manager" value="mlp_multibridge" />
-    <arg name="spurn" value="$(arg spurn)" />
-    <arg name="nodes" value="$(arg nodes)" />
-    <arg name="extra" value="$(arg extra)" />
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="default" value="$(arg dds)" />
-  </include>
-  <include file="$(find ff_util)/launch/ff_nodelet.launch">
-    <arg name="class" value="comms_bridge/BridgePublisherNodelet" />
-    <arg name="name" value="comms_bridge_pub" />
+    <arg name="class" value="comms_bridge/CommsBridgeNodelet" />
+    <arg name="name" value="comms_bridge" />
     <arg name="manager" value="mlp_multibridge" />
     <arg name="spurn" value="$(arg spurn)" />
     <arg name="nodes" value="$(arg nodes)" />

diff --git a/communications/comms_bridge/launch/comms_bridge.launch b/communications/comms_bridge/launch/comms_bridge.launch
@@ -19,14 +19,9 @@
   <arg name="name" default="comms_bridge" />
   <arg name="manager" default="" />
   <include file="$(find ff_util)/launch/ff_nodelet.launch">
-    <arg name="name" value="$(arg name)_sub"/>
+    <arg name="name" value="$(arg name)"/>
     <arg name="manager" value="$(arg manager)" />
-    <arg name="class" value="comms_bridge/BridgeSubscriberNodelet" />
-  </include>
-  <include file="$(find ff_util)/launch/ff_nodelet.launch">
-    <arg name="name" value="$(arg name)_pub"/>
-    <arg name="manager" value="$(arg manager)" />
-    <arg name="class" value="comms_bridge/BridgePublisherNodelet" />
+    <arg name="class" value="comms_bridge/CommsBridgeNodelet" />
   </include>
 </launch>