Removed abstracted RobotAdapter, to be added only after Nav1RobotAdap…

…ter is implemented Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 6, 2024 · 02cf5d3 · 02cf5d3
1 parent 2a17701
commit 02cf5d3
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Showing 3 changed files with 5 additions and 104 deletions.
diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
@@ -8,7 +8,6 @@ ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
   ${PROJECT_NAME}/fleet_adapter.py
-  ${PROJECT_NAME}/robot_adapter.py
   ${PROJECT_NAME}/nav2_robot_adapter.py
   DESTINATION lib/${PROJECT_NAME}
 )

diff --git a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
@@ -37,7 +37,6 @@
     make_cancel_all_goals_request,
     namespacify,
 )
-from free_fleet_adapter.robot_adapter import RobotAdapter
 
 from geometry_msgs.msg import TransformStamped
 import numpy as np
@@ -96,7 +95,7 @@ def get_transform(self) -> TransformStamped | None:
         return None
 
 
-class Nav2RobotAdapter(RobotAdapter):
+class Nav2RobotAdapter:
 
     def __init__(
         self,
@@ -108,7 +107,10 @@ def __init__(
         fleet_handle,
         tf_buffer
     ):
-        RobotAdapter.__init__(self, name, node, fleet_handle)
+        self.name = name
+        self.node = node
+        self.fleet_handle = fleet_handle
+        self.update_handle = None
 
         self.execution = None
         self.configuration = configuration

diff --git a/free_fleet_adapter/free_fleet_adapter/robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/robot_adapter.py