Commit 214fa7e0 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Delete useless commented code

parent 1102eb09
......@@ -414,12 +414,7 @@ SystemBoltHardware::export_command_interfaces()
return command_interfaces;
}
//Calibration function
return_type SystemBoltHardware::calibration(){
double Kp = stod(info_.hardware_parameters.at("calib_kp"));
......@@ -437,8 +432,6 @@ return_type SystemBoltHardware::calibration(){
}
// START
return_type SystemBoltHardware::start()
{
robot_->Start();
......@@ -460,34 +453,6 @@ return_type SystemBoltHardware::start()
status_ = hardware_interface::status::STARTED;
/* RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"Starting ...please wait...");
//Starting countdown
for (auto i = 0; i <= hw_start_sec_; ++i) {
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"%.1f seconds left...", hw_start_sec_ - i);
}
// set some default values
for (const hardware_interface::ComponentInfo & joint : info_.joints) {
if (std::isnan(hw_states_[joint.name].position)) {
hw_states_[joint.name] = {0.0, 0.0, 0.0, 0.0, 0.0};
hw_commands_[joint.name] = {0.0, 0.0, 0.0, 0.0, 0.0};
}
}
status_ = hardware_interface::status::STARTED;
RCLCPP_INFO(
rclcpp::get_logger("SystemBoltHardware"),
"System Sucessfully started!");*/
return return_type::OK;
}
......@@ -503,11 +468,6 @@ return_type SystemBoltHardware::stop()
hardware_interface::return_type SystemBoltHardware::read()
{
// RCLCPP_INFO(
//rclcpp::get_logger("SystemBoltHardware"),
//"Reading...");
// Data acquisition (with ODRI)
robot_->ParseSensorData();
......@@ -554,15 +514,9 @@ hardware_interface::return_type SystemBoltHardware::read()
imu_states_["IMU"].quater[2] = imu_quater[2];
imu_states_["IMU"].quater[3] = imu_quater[3];
// RCLCPP_INFO(
//rclcpp::get_logger("SystemBoltHardware"),
//"Joints sucessfully read!");
return return_type::OK;
}
////// WRITE
hardware_interface::return_type
SystemBoltHardware::write()
......@@ -637,14 +591,6 @@ SystemBoltHardware::write()
} // namespace ros2_control_bolt
#include "pluginlib/class_list_macros.hpp"
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment