Some intermediate commit

Fixed formating in files

Correct rebasing issues

Author: destogl

.clang-format

@@ -53,13 +53,13 @@ BreakBeforeBraces: Custom
 BraceWrapping:
     AfterCaseLabel: 'true'
     AfterClass: 'true'
-    AfterControlStatement: 'true'
+    AfterControlStatement: Never
     AfterEnum : 'true'
     AfterFunction : 'true'
     AfterNamespace : 'true'
     AfterStruct : 'true'
     AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
+    BeforeCatch : 'false'
+    BeforeElse : 'false'
     IndentBraces : 'false'
 ...

ur_bringup/launch/ur10.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur10e.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur16e.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur3.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur3e.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur5.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur5e.launch.py

@@ -69,9 +69,4 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            base_launch,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [base_launch])

ur_bringup/launch/ur_dashboard_client.launch.py

@@ -40,9 +40,4 @@ def generate_launch_description():
         parameters=[{"robot_ip": robot_ip}],
     )
 
-    return LaunchDescription(
-        declared_arguments
-        + [
-            dashboard_client_node,
-        ]
-    )
+    return LaunchDescription(declared_arguments + [dashboard_client_node])

ur_bringup/launch/ur_moveit.launch.py

@@ -72,21 +72,6 @@ def generate_launch_description():
         )
     )
     # General arguments
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "runtime_config_package",
-            default_value="ur_bringup",
-            description='Package with the controller\'s configuration in "config" folder. \
-        Usually the argument is not set, it enables use of a custom setup.',
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "controllers_file",
-            default_value="ur_controllers.yaml",
-            description="YAML file with the controllers configuration.",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_package",
@@ -141,13 +126,6 @@ def generate_launch_description():
             Used only if 'use_fake_hardware' parameter is true.",
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "robot_controller",
-            default_value="joint_trajectory_controller",
-            description="Robot controller to start.",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
     )
@@ -159,16 +137,13 @@ def generate_launch_description():
     safety_pos_margin = LaunchConfiguration("safety_pos_margin")
     safety_k_position = LaunchConfiguration("safety_k_position")
     # General arguments
-    runtime_config_package = LaunchConfiguration("runtime_config_package")
-    controllers_file = LaunchConfiguration("controllers_file")
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     moveit_config_package = LaunchConfiguration("moveit_config_package")
     moveit_config_file = LaunchConfiguration("moveit_config_file")
     prefix = LaunchConfiguration("prefix")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
-    robot_controller = LaunchConfiguration("robot_controller")
     launch_rviz = LaunchConfiguration("launch_rviz")
 
     joint_limit_params = PathJoinSubstitution(