Clean up config and launch files to reduce duplication (#32)

src/picknik_ur_base_config/config/base_config.yaml

@@ -38,29 +38,23 @@ hardware:
   ip: "!!! Please set the IP address of the robot"
 
   # Specify additional launch files for running the robot with real hardware.
-  # [Required]
+  # [Optional, defaults to a blank launch file if not specified]
   robot_driver_persist_launch_file:
     package: "picknik_ur_base_config"
     path: "launch/robot_drivers_to_persist.launch.py"
-  robot_driver_restart_launch_file:
-    package: "picknik_ur_base_config"
-    path: "launch/robot_drivers_to_restart.launch.py"
   hardware_launch_file:
-    package: "picknik_ur_base_config"
-    path: "launch/hardware.launch.py"
+    package: "moveit_studio_agent"
+    path: "launch/blank.launch.py"
 
   # Specify any additional launch files for running the robot in simulation mode.
-  # Used when simulated is True.
-  # [Required]
+  # Used when hardware.simulated is True.
+  # [Optional, defaults to a blank launch file if not specified]
   simulated_robot_driver_persist_launch_file:
     package: "picknik_ur_base_config"
     path: "launch/sim/robot_drivers_to_persist_sim.launch.py"
-  simulated_robot_driver_restart_launch_file:
-    package: "picknik_ur_base_config"
-    path: "launch/sim/robot_drivers_to_restart_sim.launch.py"
   simulated_hardware_launch_file:
-    package: "picknik_ur_base_config"
-    path: "launch/sim/hardware_sim.launch.py"
+    package: "moveit_studio_agent"
+    path: "launch/blank.launch.py"
 
   # Configuration details for cameras and scene planning.
   # [Required]

src/picknik_ur_base_config/package.xml

@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>moveit_ros_perception</exec_depend>
+  <exec_depend>moveit_studio_agent</exec_depend>
   <exec_depend>moveit_studio_behavior</exec_depend>
   <exec_depend>moveit_studio_ur_pstop_manager</exec_depend>
   <exec_depend>pick_ik</exec_depend>

src/picknik_ur_gazebo_config/launch/sim/hardware_sim.launch.py

@@ -42,7 +42,6 @@
     xacro_to_urdf,
 )
 from moveit_studio_utils_py.system_config import get_config_folder, SystemConfigParser
-from moveit_studio_utils_py.generate_camera_frames import generate_camera_frames
 
 
 def path_pattern_change_for_ignition(urdf_string):
@@ -99,7 +98,6 @@ def generate_simulation_description(context, *args, **settings):
 def generate_launch_description():
     system_config_parser = SystemConfigParser()
     optional_feature_setting = system_config_parser.get_optional_feature_configs()
-    cameras_config = system_config_parser.get_cameras_config()
 
     # The path to the auto_created urdf files
     robot_urdf = system_config_parser.get_processed_urdf()
@@ -257,22 +255,6 @@ def generate_launch_description():
         output="both",
     )
 
-    frame_pair_params = [
-        {
-            "world_frame": "world",
-            "camera_frames": generate_camera_frames(cameras_config),
-        }
-    ]
-
-    camera_transforms_node = Node(
-        package="moveit_studio_agent",
-        executable="camera_transforms_node",
-        name="camera_transforms_node",
-        output="both",
-        parameters=frame_pair_params,
-        arguments=["--ros-args"],
-    )
-
     #####################
     # Environment Scene #
     #####################
@@ -311,6 +293,5 @@ def generate_launch_description():
             gazebo,
             spawn_robot,
             spawn_scene,
-            camera_transforms_node,
         ]
     )