remove health monitor

carma/launch/carma_src.launch

@@ -99,31 +99,6 @@
     </include>
   </group>
 
-  <!-- Guidance Stack -->
-  <group ns="$(env CARMA_GUIDE_NS)">
-    <!-- Health Monitor.
-    Health monitor is required to launch with node tag here to correctly shut down
-    other nodes through its required=true attribute-->
-    <node pkg="health_monitor" type="health_monitor" name="health_monitor" required="true">
-      <remap from="driver_discovery" to="$(optenv CARMA_INTR_NS)/driver_discovery"/>
-      <remap from="system_alert" to="/system_alert"/>
-      <remap from="~required_drivers" to="/required_drivers"/> 
-      <remap from="~lidar_gps_drivers" to="/lidar_gps_drivers"/>
-      <remap from="~camera_drivers" to="/camera_drivers"/>
-      <remap from="~truck" to="/truck"/>
-      <remap from="~car" to="/car"/> 
-      <rosparam command="load" file="$(find health_monitor)/config/params.yaml"/>
-    </node>
-
-    <include file="$(find carma)/launch/guidance.launch">
-      <arg name="route_file_folder" value="$(arg route_file_folder)"/>
-      <arg name="vehicle_calibration_dir" value="$(arg vehicle_calibration_dir)"/>
-      <arg name="enable_guidance_plugin_validator" value="$(arg enable_guidance_plugin_validator)"/>
-      <arg name="strategic_plugins_to_validate" value="$(arg strategic_plugins_to_validate)"/>
-      <arg name="tactical_plugins_to_validate" value="$(arg tactical_plugins_to_validate)"/>
-      <arg name="control_plugins_to_validate" value="$(arg control_plugins_to_validate)"/>
-    </include>
-  </group>
 
   <!-- Set up the rosbag record node that will exclude sensitive topics -->
   <group ns="carma_record">

carma/launch/drivers.launch.py

@@ -84,11 +84,7 @@ def generate_launch_description():
         package='subsystem_controllers',
         name='drivers_controller',
         executable='drivers_controller',
-        parameters=[ subsystem_controller_default_param_file, subsystem_controller_param_file, vehicle_config_param_file  ],
-        remappings=[
-            ('ros2_required_driver_subsystem_nodes','required_subsystem_nodes'),
-            ('driver_subsystem_excluded_nodes', 'unmanaged_namespace_nodes')
-        ],
+        parameters=[ subsystem_controller_default_param_file, subsystem_controller_param_file ],
         on_exit= Shutdown(), # Mark the subsystem controller as required
         arguments=['--ros-args', '--log-level', GetLogLevel('subsystem_controllers', env_log_levels)]
     )