From f08c82c0aecf4d29210a85900cd1a1366f29e989 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Fri, 14 Sep 2018 09:50:03 +0200
Subject: [PATCH] [python] Remove RosJointState from ros.py
---
src/dynamic_graph/ros/ros.py | 7 -------
1 file changed, 7 deletions(-)
diff --git a/src/dynamic_graph/ros/ros.py b/src/dynamic_graph/ros/ros.py
index 9a0b973..6352659 100644
--- a/src/dynamic_graph/ros/ros.py
+++ b/src/dynamic_graph/ros/ros.py
@@ -1,6 +1,5 @@
from ros_publish import RosPublish
from ros_subscribe import RosSubscribe
-from ros_joint_state import RosJointState
from ros_time import RosTime
from dynamic_graph import plug
@@ -9,7 +8,6 @@ class Ros(object):
device = None
rosPublish = None
rosSubscribe = None
- rosJointState = None
# aliases, for retro compatibility
rosImport = None
@@ -19,15 +17,10 @@ class Ros(object):
self.robot = robot
self.rosPublish = RosPublish('rosPublish{0}'.format(suffix))
self.rosSubscribe = RosSubscribe('rosSubscribe{0}'.format(suffix))
- self.rosJointState = RosJointState('rosJointState{0}'.format(suffix))
- self.rosJointState.retrieveJointNames(self.robot.dynamic.name)
self.rosTime = RosTime ('rosTime{0}'.format(suffix))
- plug(self.robot.device.state, self.rosJointState.state)
self.robot.device.after.addSignal(
'{0}.trigger'.format(self.rosPublish.name))
- self.robot.device.after.addSignal(
- '{0}.trigger'.format(self.rosJointState.name))
# aliases, for retro compatibility
self.rosImport=self.rosPublish
--
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