Revert "Added an option to log a full resolution heartbeat for the depth image (#1120)"

This reverts commit 2cdb895.

Author: PotatoPeeler3000

ihmc-communication/src/main/java/us/ihmc/communication/PerceptionAPI.java

@@ -118,15 +118,6 @@ public final class PerceptionAPI
                                                                                            .withTypeName(ImageMessage.class)
                                                                                            .withSuffix("depth_filtered");
 
-   public static final ROS2Topic<Empty> REQUEST_FULL_RESOLUTION_HEARTBEAT = PERCEPTION_MODULE.withSuffix("request_realsense_full_resolution")
-                                                                                             .withType(Empty.class);
-   public static final ROS2Topic<ImageMessage> D455_DEPTH_IMAGE_FULL_RESOLUTION = BEST_EFFORT.withModule("d455")
-                                                                                             .withTypeName(ImageMessage.class)
-                                                                                             .withSuffix("depth_full_resolution");
-   public static final ROS2Topic<ImageMessage> D455_COLOR_IMAGE_FULL_RESOLUTION = BEST_EFFORT.withModule("d455")
-                                                                                             .withTypeName(ImageMessage.class)
-                                                                                             .withSuffix("color_full_resolution");
-
    /*
     * RealSense image topics (official ROS 2 Image and CameraInfo types)
     */

ihmc-high-level-behaviors/src/libgdx/java/us/ihmc/rdx/ui/graphics/ros2/pointCloud/RDXROS2ColoredPointCloudVisualizer.java

@@ -3,11 +3,7 @@
 import com.badlogic.gdx.graphics.g3d.Renderable;
 import com.badlogic.gdx.utils.Array;
 import com.badlogic.gdx.utils.Pool;
-import imgui.ImGui;
-import imgui.type.ImBoolean;
 import perception_msgs.msg.dds.ImageMessage;
-import us.ihmc.communication.PerceptionAPI;
-import us.ihmc.communication.ros2.ROS2Heartbeat;
 import us.ihmc.perception.RawImage;
 import us.ihmc.perception.imageMessage.ImageMessageDecoder;
 import us.ihmc.rdx.sceneManager.RDXSceneLevel;
@@ -40,9 +36,6 @@ public class RDXROS2ColoredPointCloudVisualizer extends RDXROS2MultiTopicVisuali
    private final ImageMessageDecoder colorMessageDecoder = new ImageMessageDecoder();
 
    private final RDXRawImagePointCloudVisualizer visualizer;
-   private ROS2Heartbeat fullResolutionHeartbeat;
-   private final ImBoolean requestFullResolution = new ImBoolean(false);
-
 
    public RDXROS2ColoredPointCloudVisualizer(String title, ROS2Node ros2Node, ROS2Topic<ImageMessage> depthTopic, ROS2Topic<ImageMessage> colorTopic)
    {
@@ -91,9 +84,6 @@ public List<ROS2Topic<?>> getTopics()
    @Override
    public void renderImGuiWidgets()
    {
-      if (ImGui.checkbox(labels.get("Full Resolution Hearbeat"), requestFullResolution) && fullResolutionHeartbeat != null)
-         fullResolutionHeartbeat.setAlive(requestFullResolution.get());
-
       depthMessageSizeReadout.renderImGuiWidgets();
       colorMessageSizeReadout.renderImGuiWidgets();
 
@@ -120,12 +110,6 @@ public void destroy()
       colorMessageDecoder.destroy();
    }
 
-   public void setupFullResolutionRequestHeartbeat(ROS2Node ros2Node)
-   {
-      fullResolutionHeartbeat = new ROS2Heartbeat(ros2Node, PerceptionAPI.REQUEST_FULL_RESOLUTION_HEARTBEAT);
-      fullResolutionHeartbeat.setAlive(requestFullResolution.get());
-   }
-
    private void subscribe()
    {
       depthSubscription = ros2Node.createSubscription2(depthTopic, this::onDepthMessageReceived);

ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/ROS2ImageSensors.java

@@ -26,8 +26,6 @@ public class ROS2ImageSensors
    private ImageSensor zedSensor;
    private ROS2DemandGraphNode zedPublishDemandNode;
    private ImageSensorPublishThread zedPublishThread;
-   private ROS2DemandGraphNode ros2DemandGraphNode;
-   private ImageSensorPublishThread imageSensorPublishThread;
 
    public ROS2ImageSensors(ROS2Node ros2Node)
    {
@@ -50,18 +48,6 @@ public void addRealsenseSensor(ImageSensor realsenseSensor, ReferenceFrame senso
       setupCallbackForDemandNode(realsensePublishThread, realsensePublishDemandNode);
    }
 
-   // Must be called after the realsense has been added, no safety checks
-   public void addFullResolutionRealSensePublisher(ImageSensor realsenseSensor)
-   {
-      ros2DemandGraphNode = new ROS2DemandGraphNode(ros2Node, PerceptionAPI.REQUEST_FULL_RESOLUTION_HEARTBEAT);
-      realsenseDemandNode.addDependents(ros2DemandGraphNode);
-
-      imageSensorPublishThread = new ImageSensorPublishThread(ros2Node, realsenseSensor);
-      realsensePublishThread.addTopic(PerceptionAPI.D455_DEPTH_IMAGE_FULL_RESOLUTION, RealSenseImageSensor.DEPTH_IMAGE_KEY);
-      realsensePublishThread.addTopic(PerceptionAPI.D455_COLOR_IMAGE_FULL_RESOLUTION, RealSenseImageSensor.COLOR_IMAGE_KEY);
-      setupCallbackForDemandNode(imageSensorPublishThread, ros2DemandGraphNode);
-   }
-
    public void addZEDSensor(ImageSensor zedSensor, ReferenceFrame sensorFrame)
    {
       this.zedSensor = zedSensor;