Refactor launch files and update robot description for iiwa7 configuration

src/iiwa_bringup/launch/supported/iiwa_controllers.launch.py

@@ -1,65 +0,0 @@
-from launch.substitutions import LaunchConfiguration
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.actions import OpaqueFunction
-from launch import LaunchDescription
-from launch_ros.actions import Node
-
-
-from iiwa_utils import converter
-
-
-def _setup_controllers(context, *args, **kwargs):
-    robot_name = LaunchConfiguration("robot_name").perform(context)
-    description = LaunchConfiguration("description").perform(context)
-    initial_positions_file = LaunchConfiguration("initial_positions_file").perform(
-        context
-    )
-    controller_path = LaunchConfiguration("controller_path").perform(context)
-
-    robot_description = converter.load_robot_description(
-        model_path=description,
-        robot_name=robot_name,
-        xacro_args={"initial_positions_file": initial_positions_file},
-    )
-
-    ros2_control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        output="screen",
-        parameters=[
-            {"robot_description": robot_description},
-            controller_path,
-        ],
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
-        output="screen",
-    )
-
-    arm_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["iiwa_arm_controller", "--controller-manager", "/controller_manager"],
-        output="screen",
-    )
-
-    arm_controller_after_jsb = RegisterEventHandler(
-        OnProcessExit(
-            target_action=joint_state_broadcaster_spawner,
-            on_exit=[arm_controller_spawner],
-        )
-    )
-
-    return [
-        ros2_control_node,
-        joint_state_broadcaster_spawner,
-        arm_controller_after_jsb,
-    ]
-
-
-def generate_launch_description():
-    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])