Removed token as of api 2.0

spot_driver/launch/driver.launch

@@ -1,7 +1,6 @@
 <launch>
   <arg name="username" default="dummyusername" />
   <arg name="password" default="dummypassword" />
-  <arg name="app_token" default="/home/spot/.bosdyn/dev.app_token" />
   <arg name="hostname" default="192.168.50.3" />
 
   <include file="$(find spot_description)/launch/description.launch" />
@@ -11,7 +10,6 @@
     <rosparam file="$(find spot_driver)/config/spot_ros.yaml" command="load" />
     <param name="username" value="$(arg username)" />
     <param name="password" value="$(arg password)" />
-    <param name="app_token" value="$(arg app_token)" />
     <param name="hostname" value="$(arg hostname)" />
     <remap from="joint_states" to="/joint_states"/>
     <remap from="tf" to="/tf"/>

spot_driver/scripts/spot_ros.py

@@ -288,14 +288,13 @@ def main(self):
         self.rates = rospy.get_param('~rates', {})
         self.username = rospy.get_param('~username', 'default_value')
         self.password = rospy.get_param('~password', 'default_value')
-        self.app_token = rospy.get_param('~app_token', 'default_value')
         self.hostname = rospy.get_param('~hostname', 'default_value')
         self.motion_deadzone = rospy.get_param('~deadzone', 0.05)
 
         self.logger = logging.getLogger('rosout')
 
         rospy.loginfo("Starting ROS driver for Spot")
-        self.spot_wrapper = SpotWrapper(self.username, self.password, self.app_token, self.hostname, self.logger, self.rates, self.callbacks)
+        self.spot_wrapper = SpotWrapper(self.username, self.password, self.hostname, self.logger, self.rates, self.callbacks)
 
         if self.spot_wrapper.is_valid:
             # Images #

spot_driver/scripts/spot_wrapper.py

@@ -172,10 +172,9 @@ def _start_query(self):
 
 class SpotWrapper():
     """Generic wrapper class to encompass release 1.1.4 API features as well as maintaining leases automatically"""
-    def __init__(self, username, password, token, hostname, logger, rates = {}, callbacks = {}):
+    def __init__(self, username, password, hostname, logger, rates = {}, callbacks = {}):
         self._username = username
         self._password = password
-        self._token = token
         self._hostname = hostname
         self._logger = logger
         self._rates = rates
@@ -210,12 +209,6 @@ def __init__(self, username, password, token, hostname, logger, rates = {}, call
             self._logger.error("Error creating SDK object: %s", e)
             self._valid = False
             return
-        try:
-            self._sdk.load_app_token(self._token)
-        except Exception as e:
-            self._logger.error("Error loading developer token: %s", e)
-            self._valid = False
-            return
 
         self._robot = self._sdk.create_robot(self._hostname)
 
@@ -482,4 +475,3 @@ def velocity_cmd(self, v_x, v_y, v_rot, cmd_duration=0.1):
                                       v_x=v_x, v_y=v_y, v_rot=v_rot, params=self._mobility_params),
                                   end_time_secs=end_time)
         self._last_motion_command_time = end_time
-