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Stop behaviors from demanding ArUco marker detection. #256

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Merged
merged 1 commit into from
Jun 24, 2024
Merged

Stop behaviors from demanding ArUco marker detection. #256

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5 changes: 0 additions & 5 deletions ...behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/ros2/ROS2BehaviorTreeExecutor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,6 @@
import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
import us.ihmc.avatar.ros2.ROS2ControllerHelper;
import us.ihmc.behaviors.behaviorTree.BehaviorTreeExecutor;
import us.ihmc.communication.PerceptionAPI;
import us.ihmc.communication.ros2.ROS2Heartbeat;
import us.ihmc.perception.sceneGraph.SceneGraph;
import us.ihmc.robotics.referenceFrames.ReferenceFrameLibrary;

Expand All @@ -15,7 +13,6 @@
public class ROS2BehaviorTreeExecutor extends BehaviorTreeExecutor
{
private final ROS2BehaviorTreeState ros2BehaviorTreeState;
private final ROS2Heartbeat arUcoDemandHeartbeat;

public ROS2BehaviorTreeExecutor(ROS2ControllerHelper ros2ControllerHelper,
DRCRobotModel robotModel,
Expand All @@ -26,15 +23,13 @@ public ROS2BehaviorTreeExecutor(ROS2ControllerHelper ros2ControllerHelper,
super(robotModel, syncedRobot, referenceFrameLibrary, sceneGraph, ros2ControllerHelper);

ros2BehaviorTreeState = new ROS2BehaviorTreeState(getState(), this::setRootNode, ros2ControllerHelper);
arUcoDemandHeartbeat = new ROS2Heartbeat(ros2ControllerHelper, PerceptionAPI.REQUEST_ARUCO);
}

public void update()
{
ros2BehaviorTreeState.updateSubscription();

super.update();
arUcoDemandHeartbeat.setAlive(getRootNode() != null);

ros2BehaviorTreeState.updatePublication();
}
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