Merge pull request #968 from tue-robotics/fix/RiseInInspect

removed Rise state from inspect
tue-robotics · Dec 14, 2019 · 3d7beab · 3d7beab
2 parents b12d507 + 5eb1ffc
commit 3d7beab
Showing 1 changed file with 2 additions and 9 deletions.
diff --git a/robot_smach_states/src/robot_smach_states/world_model.py b/robot_smach_states/src/robot_smach_states/world_model.py
@@ -13,7 +13,6 @@
 from robot_skills.util.entity import Entity
 from robot_skills.util.kdl_conversions import VectorStamped
 from robot_smach_states.navigation import NavigateToObserve, NavigateToSymbolic
-from robot_smach_states.rise import RiseForInspect
 import robot_smach_states.util.designators as ds
 
 
@@ -219,8 +218,6 @@ def execute(self, userdata=None):
 
         return 'done'
 
-# ----------------------------------------------------------------------------------------------------
-
 
 class Inspect(smach.StateMachine):
     """
@@ -251,16 +248,12 @@ def __init__(self, robot, entityDes, objectIDsDes=None, searchArea="on_top_of",
                                                                                  entityDes),
                                        transitions={'unreachable': 'failed',
                                                     'goal_not_defined': 'failed',
-                                                    'arrived': 'RISE'})
+                                                    'arrived': 'SEGMENT'})
             else:
                 smach.StateMachine.add('NAVIGATE_TO_INSPECT', NavigateToObserve(robot, entityDes, radius=1.0),
                                        transitions={'unreachable': 'failed',
                                                     'goal_not_defined': 'failed',
-                                                    'arrived': 'RISE'})
-
-            smach.StateMachine.add('RISE', RiseForInspect(robot, entityDes, searchArea),
-                                   transitions={'succeeded': 'SEGMENT',
-                                                'failed': 'SEGMENT'})
+                                                    'arrived': 'SEGMENT'})
 
             smach.StateMachine.add('SEGMENT',
                                    SegmentObjects(robot, objectIDsDes.writeable, entityDes, searchArea,