Removed Valve Manip Node

CWRUbotix · Feb 22, 2025 · 7caa350 · 7caa350
1 parent c2b6ad0
commit 7caa350
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Showing 4 changed files with 1 addition and 73 deletions.
diff --git a/src/pi/manipulators/README.md b/src/pi/manipulators/README.md
@@ -36,17 +36,6 @@ Toggle a manipulator on or off on receiving a msg.
 
     The control message for activating manipulators. Set `manip_id` to anything other than "valve" to control the claw manips.
 
-
-### valve_manipulator
-
-Toggle the servo on or off on receiving a message.
-
-#### Subscribed Topics
-
-* **`/manipulator_control`** ([msg/Manip])
-
-    The control message for activating manipulators. Set `manip_id` to "valve" to control the valve manip.
-
 ### test
 
 Sends on and off signals to the IC2 board to confirm it is working. There is no ROS features being used.

diff --git a/src/pi/manipulators/launch/manip_launch.py b/src/pi/manipulators/launch/manip_launch.py
@@ -16,12 +16,4 @@ def generate_launch_description() -> LaunchDescription:
         output='screen',
     )
 
-    valve_manip_node = Node(
-        package='manipulators',
-        executable='valve_manipulator',
-        remappings=[('/pi/valve_manipulator', '/tether/valve_manipulator')],
-        emulate_tty=True,
-        output='screen',
-    )
-
-    return LaunchDescription([manip_node, valve_manip_node])
+    return LaunchDescription([manip_node])
diff --git a/src/pi/manipulators/manipulators/valve_manipulator_node.py b/src/pi/manipulators/manipulators/valve_manipulator_node.py
diff --git a/src/pi/manipulators/setup.py b/src/pi/manipulators/setup.py
@@ -30,7 +30,6 @@
         'console_scripts': [
             'manipulators = manipulators.manipulator_node:main',
             'dry_run_manipulators = manipulators.manipulator_dry_run:main',
-            'valve_manipulator = manipulators.valve_manipulator_node:main',
             'dry_run_valve_manipulator = manipulators.valve_manipulator_dry_run:main',
         ],
     },