automotive: Remove car_sim_lcm (RobotLocomotion#9474)

This demo uses RigidBodyPlant, which is heading for deprecation.  We can
resurrect this demo using MultibodyPlant in the future, if we wish.  The
current code isn't very useful either as a standalone example, or a
reference for doing the Multibody porting, so it's not worth moving into
the attic, either.

automotive/BUILD.bazel

@@ -530,30 +530,6 @@ drake_cc_binary(
     ],
 )
 
-drake_cc_binary(
-    name = "car_sim_lcm",
-    srcs = [
-        "car_sim_lcm.cc",
-        "car_sim_lcm_common.cc",
-        "car_sim_lcm_common.h",
-    ],
-    add_test_rule = 1,
-    data = [
-        "//automotive/models:prod_models",
-    ],
-    test_rule_args = ["--simulation_sec=0.01"],
-    # Flaky because LCM self-test can fail (PR #7311)
-    test_rule_flaky = 1,
-    deps = [
-        ":automotive_simulator",
-        "//attic/multibody/rigid_body_plant",
-        "//common:find_resource",
-        "//common:text_logging_gflags",
-        "//multibody:rigid_body_tree_construction",
-        "//systems/controllers:pid_controlled_system",
-    ],
-)
-
 drake_py_binary(
     name = "steering_command_driver",
     srcs = ["steering_command_driver.py"],

automotive/README.md

@@ -56,44 +56,6 @@ $ cd drake
 $ bazel-bin/automotive/steering_command_driver --mode=one-time --throttle=1.0 --steering-angle=0.4
 ```
 
-Running the dynamics
---------------------
-
-The following instructions describe how to run `car_sim_lcm` — a
-dynamics-based simulation of a sedan that approximates a Toyota Prius. The model
-is simplistic; it does not model engine, transmission, or suspension
-dynamics, but it is still useful in terms of illustrating Drake's dynamics-based
-simulation capability. The model consists of four wheels where the front wheels
-are steered using
-[Ackermann steering](https://en.wikipedia.org/wiki/Ackermann_steering_geometry)
-and the rear wheels are fixed to an axle that spans the width of the
-vehicle (they rotate passively). In addition to being steerable, the front
-wheels also have velocity-controlled actuators that enable the vehicle to move
-forward and backward. PID controllers are used to control both the steering
-angle and front wheel rotational velocities. A simple sliding friction model is
-used for the contacts between the wheels and the ground. The input reference
-values for the PID controllers are settable via LCM using
-`lcmt_driving_command_t` messages published on channel "DRIVING_COMMAND". The
-current state of the simulation can be visualized in Drake Visualizer.
-
-To run `car_sim_lcm`, open a new terminal and execute the following commands:
-
-```
-$ cd drake
-$ bazel build automotive:demo automotive:car_sim_lcm
-$ bazel-bin/tools/drake_visualizer &
-$ bazel-bin/automotive/steering_command_driver &
-$ bazel run automotive:car_sim_lcm
-```
-
-Then drive the car using the `pygame` window per "Driving the Prius" above.
-
-You can also add a speed bump with a command-line switch:
-
-```
-$ bazel run automotive:car_sim_lcm -- --with_speed_bump
-```
-
 Enable Chase Cam Mode in the Drake Visualizer
 ---------------------------------------------