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feat(tier4_autoware_api_launch)!: remove deprecated api #8134

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feat(tier4_autoware_api_launch)!: remove deprecated api #8134

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14 changes: 0 additions & 14 deletions launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
<launch>
<!-- AD API options -->
<arg name="launch_deprecated_api" default="false"/>
<arg name="launch_default_ad_api" default="true"/>
<arg name="launch_rviz_adaptors" default="true"/>

Expand All @@ -9,25 +8,12 @@
<arg name="rosbridge_respawn" default="true"/>
<arg name="rosbridge_max_message_size" default="10000000"/>

<!-- Deprecated API -->
<group if="$(var launch_deprecated_api)">
<include file="$(find-pkg-share tier4_autoware_api_launch)/launch/deprecated_api.launch.xml"/>
</group>

<!-- AD API -->
<group>
<include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)"/>
<include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
</group>

<!-- RTC controller -->
<group>
<push-ros-namespace namespace="autoware_api/external/rtc_controller"/>
<node_container pkg="rclcpp_components" exec="component_container_mt" name="container" namespace="" ros_args="--log-level autoware_api.external.rtc_controller.container:=warn">
<composable_node pkg="autoware_iv_external_api_adaptor" plugin="external_api::RTCController" name="node"/>
</node_container>
</group>

<!-- rosbridge -->
<group if="$(var rosbridge_enabled)">
<include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
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20 changes: 0 additions & 20 deletions launch/tier4_autoware_api_launch/launch/deprecated_api.launch.xml
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5 changes: 0 additions & 5 deletions launch/tier4_autoware_api_launch/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,8 @@
<buildtool_depend>autoware_cmake</buildtool_depend>

<exec_depend>ad_api_adaptors</exec_depend>
<exec_depend>autoware_iv_external_api_adaptor</exec_depend>
<exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
<exec_depend>awapi_awiv_adapter</exec_depend>
<exec_depend>default_ad_api</exec_depend>
<exec_depend>path_distance_calculator</exec_depend>
<exec_depend>rosbridge_server</exec_depend>
<exec_depend>topic_tools</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
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