cleanup params and launch files

toid_navigation/params/toid_general_params.yaml

@@ -22,17 +22,11 @@ behavior_server:
     local_footprint_topic: local_costmap/published_footprint
     global_footprint_topic: global_costmap/published_footprint
     cycle_frequency: 50.0
-    behavior_plugins: ["backup", "spin", "drive_on_heading", "assisted_teleop", "wait", "rotate", "translateX", "moveCoords"]
+    behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords"]
     spin:
       plugin: "nav2_behaviors::Spin"
     backup:
       plugin: "nav2_behaviors::BackUp"
-    drive_on_heading:
-      plugin: "nav2_behaviors::DriveOnHeading"
-    wait:
-      plugin: "nav2_behaviors::Wait"
-    assisted_teleop:
-      plugin: "nav2_behaviors::AssistedTeleop"
     rotate:
       plugin: "toid::SimpleRotateBehavior"
       max_angular_accel: 4.0
@@ -194,38 +188,4 @@ controller_server:
 lifecycle_manager:
   ros__parameters:
     autostart: true
-    node_names: ['controller_server','planner_server','behavior_server','map_server','bt_navigator' ]
-
-
-controller_manager:
-  ros__parameters:
-    update_rate: 20  # Hz
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-diffbot_base_controller:
-  ros__parameters:
-    type: diff_drive_controller/DiffDriveController
-
-    left_wheel_names: ["drivewhl_l_joint"]
-    right_wheel_names: ["drivewhl_r_joint"]
-
-    wheel_separation: 0.29
-
-    wheel_radius: 0.04
-    use_stamped_vel: false
-
-    wheel_separation_multiplier: 1.0
-    left_wheel_radius_multiplier: 1.0
-    right_wheel_radius_multiplier: 1.0
-
-    publish_rate: 50.0
-    odom_frame_id: odom
-    base_frame_id: base_footprint
-
-    open_loop: true
-    enable_odom_tf: true
-    publish_limited_velocity: true
-
-    cmd_vel_timeout: 1.0
+    node_names: ['controller_server','planner_server','behavior_server','map_server','bt_navigator' ]