Removed extra nodes from keepout filter test.

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Author: leander-dsouza

nav2_system_tests/src/costmap_filters/test_keepout_launch.py

@@ -109,43 +109,14 @@ def generate_launch_description() -> LaunchDescription:
                     {'use_sim_time': True, 'robot_description': robot_description}
                 ],
             ),
-            Node(
-                package='nav2_lifecycle_manager',
-                executable='lifecycle_manager',
-                name='lifecycle_manager_filters',
-                output='screen',
-                parameters=[
-                    {
-                        'node_names': [
-                            'filter_mask_server',
-                            'costmap_filter_info_server',
-                        ]
-                    },
-                    {'autostart': True},
-                ],
-            ),
-            # Nodes required for Costmap Filters configuration
-            Node(
-                package='nav2_map_server',
-                executable='map_server',
-                name='filter_mask_server',
-                output='screen',
-                parameters=[new_yaml],
-            ),
-            Node(
-                package='nav2_map_server',
-                executable='costmap_filter_info_server',
-                name='costmap_filter_info_server',
-                output='screen',
-                parameters=[new_yaml],
-            ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
                     os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
                 ),
                 launch_arguments={
                     'namespace': '',
                     'map': map_yaml_file,
+                    'keepout_mask': filter_mask_file,
                     'use_sim_time': 'True',
                     'params_file': new_yaml,
                     'bt_xml_file': bt_navigator_xml,