From c4e2c11354034fd55316f9abc051526ceaac7fea Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Wed, 10 Apr 2024 14:25:36 -0600
Subject: [PATCH] Remove GetStringFromUser from Take Snapshot

---
 src/picknik_ur_site_config/objectives/take_snapshot.xml | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/picknik_ur_site_config/objectives/take_snapshot.xml b/src/picknik_ur_site_config/objectives/take_snapshot.xml
index f3a8c4ca..1dc4a37d 100644
--- a/src/picknik_ur_site_config/objectives/take_snapshot.xml
+++ b/src/picknik_ur_site_config/objectives/take_snapshot.xml
@@ -6,12 +6,7 @@
       <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
       <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
       <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
-      <Control ID="Fallback" name="TryGetStringFromUser">
-        <Action ID="GetStringFromUser" parameter_name="take_snapshot.uuid" parameter_value="{uuid}"/>
-        <!-- if we fail to get the string from the user fallback to an empty value for the uuid -->
-        <Action ID="Script" code="uuid := ''"/>
-      </Control>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid="{uuid}"/>
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" />
     </Control>
   </BehaviorTree>
 </root>