From 3e1e47a3f6148abfe37880b0510153be5a21add6 Mon Sep 17 00:00:00 2001
From: Sravan Balaji <balajsra@umich.edu>
Date: Fri, 24 Apr 2020 23:32:44 -0400
Subject: [PATCH] Removing MoveIt Dependencies

- Fix gitignore not ignoring core files and add comments
- Remove MoveIt dependencies from Dockerfile
- Delete build.sh from ariac_ws since not using MoveIt configs
- Remove catkin_make clean from arm_test.sh
- Remove catkin_make clean and install from rrrobot_run.sh
---
 .gitignore                                        | 11 ++++++++++-
 docker_env/gear/Dockerfile                        | 11 -----------
 src/ariac_ws/build.sh                             |  8 --------
 src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh    |  4 +++-
 src/rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh |  4 ++--
 5 files changed, 15 insertions(+), 23 deletions(-)
 delete mode 100644 src/ariac_ws/build.sh

diff --git a/.gitignore b/.gitignore
index d26dffc..42771c3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,9 +4,18 @@ src/*/lib/
 src/*/build
 src/*/devel
 src/*/install
+
+# Don't track catkin build files #
+##################################
+core
+
+# vscode and other system specific files #
+##########################################
 .*
+
+# Include gitignore #
+#####################
 !.gitignore
-src/*/core
 
 # Compiled source #
 ###################
diff --git a/docker_env/gear/Dockerfile b/docker_env/gear/Dockerfile
index 3c1e0dd..c28227d 100644
--- a/docker_env/gear/Dockerfile
+++ b/docker_env/gear/Dockerfile
@@ -59,17 +59,6 @@ RUN pip3 install -U \
         torchvision \
         Pillow
 
-# MoveIt Dependencies
-RUN sudo apt-get update && \
-    sudo apt-get install -y \
-        ros-melodic-moveit-core \
-        ros-melodic-moveit-kinematics \
-        ros-melodic-moveit-ros-planning \
-        ros-melodic-moveit-ros-move-group \
-        ros-melodic-moveit-planners-ompl \
-        ros-melodic-moveit-ros-visualization \
-        ros-melodic-moveit-simple-controller-manager
-
 RUN pip3 install pyyaml
 RUN pip3 install rospkg
 
diff --git a/src/ariac_ws/build.sh b/src/ariac_ws/build.sh
deleted file mode 100644
index 4135381..0000000
--- a/src/ariac_ws/build.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-
-catkin_make clean &&
-catkin_make &&
-catkin_make install &&
-
-source install/setup.bash
-roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm1
\ No newline at end of file
diff --git a/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh b/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh
index cf7f4d7..1357345 100644
--- a/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh
+++ b/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh
@@ -1,6 +1,8 @@
 #!/bin/bash
 
 cd /app/rrrobot_ws
-catkin_make clean && catkin_make
+# catkin_make clean
+catkin_make
+# catkin_make install
 source devel/setup.bash
 rosrun rrrobot arm_controller_node
diff --git a/src/rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh b/src/rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh
index 58f2c13..ed6de85 100755
--- a/src/rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh
+++ b/src/rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh
@@ -2,9 +2,9 @@
 
 cd /app/rrrobot_ws/
 
-catkin_make clean
+# catkin_make clean
 catkin_make
-catkin_make install
+# catkin_make install
 
 cd /app/rrrobot_ws/src/rrrobot/scripts