From c86bb238f8ed24c24001d6044763698ca8f3abf9 Mon Sep 17 00:00:00 2001 From: Evan Palmer Date: Wed, 17 May 2023 08:26:05 -0700 Subject: [PATCH] Removed controller arming from manager --- blue_manager/blue_manager/manager.py | 24 ++---------------------- 1 file changed, 2 insertions(+), 22 deletions(-) diff --git a/blue_manager/blue_manager/manager.py b/blue_manager/blue_manager/manager.py index 451c697e..6e75bfaa 100644 --- a/blue_manager/blue_manager/manager.py +++ b/blue_manager/blue_manager/manager.py @@ -85,11 +85,6 @@ def wait_for_client(client) -> None: ) wait_for_client(self.set_param_srv_client) - self.arm_controller_srv_client = self.create_client( - SetBool, "blue/control/arm", callback_group=reentrant_callback_group - ) - wait_for_client(self.arm_controller_srv_client) - def _get_ros_params(self) -> None: """Get the ROS parameters from the parameter server.""" self.declare_parameters( @@ -187,20 +182,6 @@ def set_thruster_params(self, params: list[Parameter]) -> bool: ) return all([result.successful for result in response.results]) - def arm_controller(self, arm: bool) -> bool: - """Arm/disarm the custom BlueROV2 controller. - - Args: - arm: Arm/disarm the controller. - - Returns: - True if the controller was successfully armed/disarmed, False otherwise. - """ - response: SetBool.Response = self.arm_controller_srv_client.call( - SetBool.Request(data=arm) - ) - return response.success - def set_rc_passthrough_mode_cb( self, request: SetBool.Request, response: SetBool.Response ) -> SetBool.Response: @@ -248,8 +229,7 @@ def set_rc_passthrough_mode_cb( for _ in range(self.retries): self.passthrough_enabled = self.set_thruster_params( list(passthrough_params.values()) - ) and self.arm_controller(True) - + ) response.success = self.passthrough_enabled if response.success: @@ -282,7 +262,7 @@ def set_rc_passthrough_mode_cb( for _ in range(self.retries): self.passthrough_enabled = not self.set_thruster_params( list(self.thruster_params_backup.values()) - ) and self.arm_controller(False) + ) response.success = not self.passthrough_enabled