Removing UAV_MASS from launch files, will be handeled by Control Manager

ctu-mrs · Feb 27, 2024 · 055cca3 · 055cca3
1 parent aba455c
commit 055cca3
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Showing 3 changed files with 0 additions and 13 deletions.
diff --git a/launch/acquisition.launch b/launch/acquisition.launch
@@ -3,7 +3,6 @@
   <arg name="UAV_NAME" default="$(optenv UAV_NAME)"/>
   <arg name="NATO_NAME" default="$(optenv NATO_NAME)"/>
   <arg name="UAV_TYPE" default="$(optenv UAV_TYPE)"/>
-  <arg name="UAV_MASS" default="$(optenv UAV_MASS)"/>
   <arg name="SENSORS" default="$(optenv SENSORS)"/>
   <arg name="RUN_TYPE" default="$(optenv RUN_TYPE)"/>
   <arg name="PIXGARM" default="$(optenv PIXGARM false)"/>
@@ -18,8 +17,6 @@
 
   <arg name="config_file" default=""/>
 
-  <arg if="$(eval arg('RUN_TYPE') == 'realworld')" name="UAV_MASS" default="$(arg UAV_MASS)" />
-
   <group ns="$(arg UAV_NAME)">
 
     <node name="mrs_uav_status_acquisition" pkg="mrs_uav_status" type="data_acquisition" output="screen" respawn="true" launch-prefix="$(arg launch_prefix)">
@@ -31,11 +28,6 @@
       <param name="sensors" value="$(arg SENSORS)" />
       <param name="pixgarm" type="bool" value="$(arg PIXGARM)" />
 
-      <param if="$(eval arg('RUN_TYPE') == 'realworld')" name="uav_mass" value="$(arg UAV_MASS)" />
-
-      <!-- TODO this needs to be somehow obtained from the control manager -->
-      <param if="$(eval arg('RUN_TYPE') == 'simulation')" name="uav_mass" value="1.0" />
-
       <rosparam file="$(find mrs_uav_status)/config/default.yaml" command="load" />
       <rosparam if="$(eval not arg('config_file') == '')" file="$(arg config_file)" />
 

diff --git a/launch/terminal.launch b/launch/terminal.launch
@@ -17,8 +17,6 @@
 
   <arg name="config_file" default=""/>
 
-  <arg if="$(eval arg('RUN_TYPE') == 'realworld')" name="UAV_MASS" default="$(env UAV_MASS)" />
-
   <group ns="$(arg UAV_NAME)">
 
     <node name="mrs_uav_status" pkg="mrs_uav_status" type="mrs_uav_status" output="screen" respawn="false" launch-prefix="$(arg launch_prefix)">
@@ -27,7 +25,6 @@
       <param name="pwd" value="$(arg PWD)" />
       <param name="nato_name" value="$(arg NATO_NAME)" />
       <param name="uav_type" value="$(arg UAV_TYPE)" />
-      <param if="$(eval arg('RUN_TYPE') == 'realworld')" name="uav_mass" value="$(arg UAV_MASS)" />
       <param name="run_type" value="$(arg RUN_TYPE)" />
       <param name="sensors" value="$(arg SENSORS)" />
       <param name="pixgarm" type="bool" value="$(arg PIXGARM)" />

diff --git a/src/data_acquisition.cpp b/src/data_acquisition.cpp
@@ -269,8 +269,6 @@ Acquisition::Acquisition() {
 
   mrs_lib::ParamLoader param_loader(nh_, "Acquisition");
 
-  string tmp_uav_mass;
-
   param_loader.loadParam("uav_name", _uav_name_);
   param_loader.loadParam("uav_type", _uav_type_);
   param_loader.loadParam("run_type", _run_type_);