From 4f9a623611782abadbe2ec6a3d536b523b6fcf5b Mon Sep 17 00:00:00 2001
From: Arjo Chakravarty <arjo@openrobotics.org>
Date: Wed, 1 Dec 2021 14:51:38 +0800
Subject: [PATCH] Address #14. Remove launch file.

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
---
 README.md                                     |  2 +-
 docker/empty_world/Dockerfile                 |  2 +-
 lrauv_ignition_plugins/launch/lrauv_world.ign | 96 -------------------
 3 files changed, 2 insertions(+), 98 deletions(-)
 delete mode 100644 lrauv_ignition_plugins/launch/lrauv_world.ign

diff --git a/README.md b/README.md
index 6501cdb4..ac496894 100644
--- a/README.md
+++ b/README.md
@@ -139,7 +139,7 @@ Alternatively, they can be changed prior to compilation in the world SDF under
 
 Launch the Ignition simulation:
 ```
-ign launch lrauv_world.ign
+ign gazebo buoyant_tethys.sdf
 ```
 For verbose debug output, add `--verbose 4`.
 
diff --git a/docker/empty_world/Dockerfile b/docker/empty_world/Dockerfile
index 33c4a452..853a0297 100644
--- a/docker/empty_world/Dockerfile
+++ b/docker/empty_world/Dockerfile
@@ -110,4 +110,4 @@ SHELL ["/bin/bash", "-c"]
 # start ignition
 ENTRYPOINT [ "/bin/bash" , "-c" , \
   "source /home/colcon_ws/install/setup.bash \
-  && ign launch lrauv_world.ign" ]
+  && ign gazebo buoyant_tethys.sdf" ]
diff --git a/lrauv_ignition_plugins/launch/lrauv_world.ign b/lrauv_ignition_plugins/launch/lrauv_world.ign
deleted file mode 100644
index 38b80205..00000000
--- a/lrauv_ignition_plugins/launch/lrauv_world.ign
+++ /dev/null
@@ -1,96 +0,0 @@
-<?xml version='1.0' ?>
-<!--
-  Development of this module has been funded by the Monterey Bay Aquarium
-  Research Institute (MBARI) and the David and Lucile Packard Foundation
--->
-<ignition version='1.0'>
-  
-  <plugin name="ignition::launch::GazeboServer"
-          filename="libignition-launch-gazebo.so">
-    <world_file>buoyant_tethys.sdf</world_file>
-    <!-- Multi-LRAUV race demo -->
-    <!--world_file>multi_lrauv.sdf</world_file-->
-  </plugin>
-
-  
-  <executable_wrapper>
-    <plugin name="ignition::launch::GazeboGui"
-          filename="ignition-launch-gazebogui">
-
-      <!-- Override default window title (Gazebo) -->
-      <window_title>LRAUV simulator</window_title>
-
-      <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
-          <title>3D View</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
-        </ignition-gui>
-
-        <engine>ogre2</engine>
-        <scene>scene</scene>
-        <ambient_light>0.4 0.4 0.4</ambient_light>
-        <background_color>0.8 0.8 0.8</background_color>
-        <camera_pose>0 6 6 0 0.5 -1.57</camera_pose>
-      </plugin>
-      <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
-          <title>World control</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="bool" key="resizable">false</property>
-          <property type="double" key="height">72</property>
-          <property type="double" key="width">121</property>
-          <property type="double" key="z">1</property>
-
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="left" target="left"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
-
-        <play_pause>true</play_pause>
-        <step>true</step>
-        <start_paused>true</start_paused>
-      </plugin>
-
-      <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
-          <title>World stats</title>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="bool" key="resizable">false</property>
-          <property type="double" key="height">110</property>
-          <property type="double" key="width">290</property>
-          <property type="double" key="z">1</property>
-
-          <property type="string" key="state">floating</property>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
-
-        <sim_time>true</sim_time>
-        <real_time>true</real_time>
-        <real_time_factor>true</real_time_factor>
-        <iterations>true</iterations>
-      </plugin>
-
-      <!-- Entity tree -->
-      <!--plugin filename="EntityTree" name="Entity tree">
-        <ignition-gui>
-          <title>Entity tree</title>
-        </ignition-gui>
-      </plugin-->
-
-      <!-- Component Inspector -->
-      <!--plugin filename="ComponentInspector" name="Component Inspector">
-        <ignition-gui>
-          <title>Component Inspector</title>
-        </ignition-gui>
-      </plugin-->
-
-    </plugin>
-  </executable_wrapper>
-   
-</ignition>