Always use ros2_control node from controller_manager package

Since that also has realtime scheuling built-in we no longer need our own.

Author: Felix Exner

ur_robot_driver/CMakeLists.txt

@@ -84,17 +84,6 @@ add_executable(dashboard_client
 target_link_libraries(dashboard_client ${catkin_LIBRARIES} ur_client_library::urcl)
 ament_target_dependencies(dashboard_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-#
-# ur_ros2_control_node
-#
-add_executable(ur_ros2_control_node
-  src/ur_ros2_control_node.cpp
-)
-ament_target_dependencies(ur_ros2_control_node
-  controller_manager
-  rclcpp
-)
-
 #
 # controller_stopper_node
 #

ur_robot_driver/launch/ur_control.launch.py

@@ -247,19 +247,6 @@ def launch_setup(context, *args, **kwargs):
             ParameterFile(initial_joint_controllers, allow_substs=True),
         ],
         output="screen",
-        condition=IfCondition(use_mock_hardware),
-    )
-
-    ur_control_node = Node(
-        package="ur_robot_driver",
-        executable="ur_ros2_control_node",
-        parameters=[
-            robot_description,
-            update_rate_config_file,
-            ParameterFile(initial_joint_controllers, allow_substs=True),
-        ],
-        output="screen",
-        condition=UnlessCondition(use_mock_hardware),
     )
 
     dashboard_client_node = Node(
@@ -389,7 +376,6 @@ def controller_spawner(controllers, active=True):
 
     nodes_to_start = [
         control_node,
-        ur_control_node,
         dashboard_client_node,
         tool_communication_node,
         controller_stopper_node,