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Rm vel2d #86

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merged 3 commits into from
Oct 6, 2022
Merged

Rm vel2d #86

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94996b9
rm old vel 2d handling in python library
knmcguire Oct 6, 2022
f99228e
add setup.py warning about changing things in the launch file
knmcguire Oct 6, 2022
249c655
remove from setup.py
knmcguire Oct 6, 2022
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rm old vel 2d handling in python library
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@knmcguire
knmcguire committed Oct 6, 2022
commit 94996b9853557db5c501bedccdb6be7640c53402
45 changes: 0 additions & 45 deletions crazyflie_examples/crazyflie_examples/cmd_vel_2d.py
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10 changes: 0 additions & 10 deletions crazyflie_py/crazyflie_py/crazyflie.py
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Original file line number Diff line number Diff line change
Expand Up @@ -179,9 +179,6 @@ def __init__(self, node, id, initialPosition):
self.cmdPositionMsg.header.frame_id = "/world"


self.cmdVelocity2DPublisher = node.create_publisher(Twist, prefix + "/cmd_vel_2d", 1)
self.cmdVelocity2DMsg = Twist()

# self.cmdVelocityWorldPublisher = rospy.Publisher(prefix + "/cmd_velocity_world", VelocityWorld, queue_size=1)
# self.cmdVelocityWorldMsg = VelocityWorld()
# self.cmdVelocityWorldMsg.header.seq = 0
Expand Down Expand Up @@ -622,13 +619,6 @@ def cmdPosition(self, pos, yaw = 0.):
self.cmdPositionMsg.yaw = yaw
self.cmdPositionPublisher.publish(self.cmdPositionMsg)

def cmdVelocity2D(self, vx_body, vy_body, height, yawrate = 0.0):
self.cmdVelocity2DMsg.linear.x = vx_body
self.cmdVelocity2DMsg.linear.y = vy_body
self.cmdVelocity2DMsg.linear.z = height
self.cmdVelocity2DMsg.angular.z = yawrate
self.cmdVelocity2DPublisher.publish(self.cmdVelocity2DMsg)

# def setLEDColor(self, r, g, b):
# """Sets the color of the LED ring deck.

Expand Down