removed unnecessary interactive marker

matchRos · Jun 1, 2020 · 81e2fd1 · 81e2fd1
1 parent bca8d70
commit 81e2fd1
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Showing 10 changed files with 20 additions and 175 deletions.
diff --git a/spot_driver/config/planar.yaml b/spot_driver/config/planar.yaml
@@ -0,0 +1,9 @@
+linear_scale:
+  x: 1
+  y: 1
+max_positive_linear_velocity:
+  x: 1
+  y: 1
+max_negative_linear_velocity:
+  x: -1
+  y: -1
diff --git a/spot_driver/launch/control.launch b/spot_driver/launch/control.launch
@@ -0,0 +1,8 @@
+
+<launch>
+  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" >
+    <rosparam command="load" file="$(find spot_driver)/config/planar.yaml" />
+    <param name="link_name" value="body" />
+    <param name="robot_name" value="spot" />
+  </node>
+</launch>
diff --git a/spot_driver/launch/driver.launch b/spot_driver/launch/driver.launch
@@ -5,6 +5,7 @@
   <arg name="hostname" default="192.168.131.3" />
 
   <include file="$(find spot_description)/launch/description.launch" />
+  <include file="$(find spot_driver)/launch/control.launch" />
 
   <node pkg="spot_driver" type="spot_ros.py" name="spot_ros"  ns="spot">
     <rosparam file="$(find spot_driver)/config/spot_ros.yaml" command="load" />

diff --git a/spot_driver/scripts/spot_ros.py b/spot_driver/scripts/spot_ros.py
@@ -236,7 +236,7 @@ def handle_safe_power_off(self, req):
         resp = self.spot_wrapper.safe_power_off()
         return TriggerResponse(resp[0], resp[1])
 
-    def handle_safe_power_hard(self, req):
+    def handle_estop_hard(self, req):
         """ROS service handler to hard-eStop the robot.  The robot will immediately cut power to the motors"""
         resp = self.spot_wrapper.assertEStop(True)
         return TriggerResponse(resp[0], resp[1])

diff --git a/spot_driver/scripts/spot_wrapper.py b/spot_driver/scripts/spot_wrapper.py
@@ -239,8 +239,7 @@ def updateTasks(self):
     def resetEStop(self):
         """Get keepalive for eStop"""
         self._estop_endpoint.force_simple_setup()  # Set this endpoint as the robot's sole estop.
-        if not self._estop_keepalive:
-            self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)
+        self._estop_keepalive = EstopKeepAlive(self._estop_endpoint)
 
     def assertEStop(self, severe=True):
         """Forces the robot into eStop state.

diff --git a/spot_interactive_marker_server/CMakeLists.txt b/spot_interactive_marker_server/CMakeLists.txt
diff --git a/spot_interactive_marker_server/config/config.yaml b/spot_interactive_marker_server/config/config.yaml
diff --git a/spot_interactive_marker_server/package.xml b/spot_interactive_marker_server/package.xml
diff --git a/spot_interactive_marker_server/scripts/spot_interactive_marker_server.py b/spot_interactive_marker_server/scripts/spot_interactive_marker_server.py
diff --git a/spot_viz/launch/view_robot.launch b/spot_viz/launch/view_robot.launch
@@ -1,8 +1,3 @@
 <launch>
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find spot_viz)/rviz/robot.rviz" />
-
-  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server" >
-    <param name="link_name" value="body" />
-    <param name="robot_name" value="spot" />
-  </node>
 </launch>