small cleanup (#233)

* small cleanup * smaller cleanup
RoboJackets · Nov 20, 2024 · 0675e51 · 0675e51
1 parent 5944ee2
commit 0675e51
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diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py
@@ -106,12 +106,6 @@ def generate_launch_description():
         name="twist_mux",
     )
 
-    teleop_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [FindPackageShare("urc_bringup"), "/launch/teleop.launch.py"]
-        )
-    )
-
     launch_gps = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(
@@ -168,7 +162,6 @@ def generate_launch_description():
             # load_arm_controller,
             # load_gripper_controller_left,
             # load_gripper_controller_right,
-            teleop_launch,
             launch_gps,
             rosbridge_server_node,
             odom_frame_node,

diff --git a/urc_hw/src/hardware_interfaces/status_light.cpp b/urc_hw/src/hardware_interfaces/status_light.cpp
@@ -118,12 +118,6 @@ hardware_interface::CallbackReturn StatusLight::on_deactivate(const rclcpp_lifec
 
 hardware_interface::return_type StatusLight::read(const rclcpp::Time &, const rclcpp::Duration &)
 {
-  RCLCPP_INFO(
-    rclcpp::get_logger(
-      hardware_interface_name), "Red: %s, Green: %s, Blue: %s", num_to_state(
-      lightStates[0]).c_str(), num_to_state(lightStates[1]).c_str(), num_to_state(
-      lightStates[2]).c_str());
-
   return hardware_interface::return_type::OK;
 }