rm old vel 2d handling in python library

boomer319 · Oct 6, 2022 · b39bfdc · b39bfdc
1 parent 3a5f968
commit b39bfdc
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diff --git a/crazyflie_examples/crazyflie_examples/cmd_vel_2d.py b/crazyflie_examples/crazyflie_examples/cmd_vel_2d.py
diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py
@@ -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
@@ -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.