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Clean up the autonomy demos #68

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Clean up the autonomy demos #68

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16 changes: 1 addition & 15 deletions stretch_demos/nodes/grasp_object
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Original file line number Diff line number Diff line change
Expand Up @@ -52,13 +52,7 @@ class GraspObjectNode(hm.HelloNode):
lift_position, lift_velocity, lift_effort = hm.get_lift_state(joint_states)
self.lift_position = lift_position
self.left_finger_position, temp1, temp2 = hm.get_left_finger_state(joint_states)

def lower_tool_until_contact(self):
rospy.loginfo('lower_tool_until_contact')
trigger_request = TriggerRequest()
trigger_result = self.trigger_lower_until_contact_service(trigger_request)
rospy.loginfo('trigger_result = {0}'.format(trigger_result))


def move_to_initial_configuration(self):
initial_pose = {'wrist_extension': 0.01,
'joint_wrist_yaw': 0.0,
Expand Down Expand Up @@ -238,14 +232,6 @@ class GraspObjectNode(hm.HelloNode):
Trigger,
self.trigger_grasp_object_callback)

rospy.wait_for_service('/funmap/trigger_reach_until_contact')
rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_reach_until_contact.')
self.trigger_reach_until_contact_service = rospy.ServiceProxy('/funmap/trigger_reach_until_contact', Trigger)

rospy.wait_for_service('/funmap/trigger_lower_until_contact')
rospy.loginfo('Node ' + self.node_name + ' connected to /funmap/trigger_lower_until_contact.')
self.trigger_lower_until_contact_service = rospy.ServiceProxy('/funmap/trigger_lower_until_contact', Trigger)

default_service = '/camera/switch_to_default_mode'
high_accuracy_service = '/camera/switch_to_high_accuracy_mode'
rospy.loginfo('Node ' + self.node_name + ' waiting to connect to ' + default_service + ' and ' + high_accuracy_service)
Expand Down