Clean up repository

[AbBaSaMo]

• [x] create config file in esda_launch containing all relevant config files for former submodules
• [x] .repos for swiftnav and zed-ros forks
• [x] convert robot loc and velodyne into rosdeps instead of submodules
• [x] update launch files and utilize the new config files
• [ ] testing everything

[AbBaSaMo]

@dylan-gonzalez

With regards to the submodules currently existing in the ESDA repository, the following packages are listed in the rosdistro repository under the humble distribution file:

• robot_localization
• velodyne

My assumption is that I don't necessarily need to apt install them but that I can include them in our esda_launch packages packages.xml file as a dependency in which case running rosdep install will do that for us and then launch the relevant drivers in our sensors launch file that point to custom config files as discussed on slack.

The following are not listed in rosdistro and I can't seem to find them as apt packages

• zed-ros2-wrapper
• swiftnav-ros

With the zed-ros2-wrapper I'll need to likely modify the URDF files they provide so I'm assuming keeping it as a submodule of a fork will remain suitable.

Regarding swiftnav-ros, would best practice entail also keeping it as a submodule or installing it via some other means? e.g. the below screenshot or is this convoluted?

[AbBaSaMo]

@dylan-gonzalez

All done, nice and clean! Haven't tested with the sensors hooked up though but merged to main anyway.

[AbBaSaMo]

Need to look into this

[AbBaSaMo]

@Monash-Connected-Autonomous-Vehicle/avp-team

Anyonw know how I can find where this would be i.e. [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .

Looked into all launch files but nothing found

[AbBaSaMo]

Dylan says . represents a dir and that it shouldn't be an issue. All nodes using a config are working at least, so going to close issue and merge progress to main