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[jsk_fetch_startup] Do not use ConnectionBasedTransport in correct_position.py #1499

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[jsk_fetch_startup] Do not use ConnectionBasedTransport in correct_position.py #1499

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19 changes: 6 additions & 13 deletions jsk_fetch_robot/jsk_fetch_startup/scripts/correct_position.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,20 +2,20 @@

import rospy

from jsk_topic_tools import ConnectionBasedTransport
from power_msgs.msg import BatteryState
from geometry_msgs.msg import PoseWithCovarianceStamped
from geometry_msgs.msg import Pose
from visualization_msgs.msg import MarkerArray


class CorrectPosition(ConnectionBasedTransport):
class CorrectPosition():

def __init__(self):
super(CorrectPosition, self).__init__()
self.pub = self.advertise('initialpose',
PoseWithCovarianceStamped,
queue_size=1)
self.sub_dock = rospy.Subscriber(
'/battery_state', BatteryState, self._cb)
self.pub = rospy.Publisher('initialpose',
PoseWithCovarianceStamped,
queue_size=1)
self.dock_pose = Pose()
robot_name = rospy.get_param('/robot/name')
if robot_name == 'fetch15':
Expand All @@ -29,13 +29,6 @@ def __init__(self):
self.is_docking = False
self.timer = rospy.Timer(rospy.Duration(1.0), self._cb_correct_position)

def subscribe(self):
self.sub_dock = rospy.Subscriber(
'/battery_state', BatteryState, self._cb)

def unsubscribe(self):
self.sub_dock.unregister()

def _cb(self, msg):
self.is_docking = msg.is_charging

Expand Down