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remove all debug publishing for arm

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Tristan McGinnis
2025-05-03 13:05:56 -05:00
committed by David
parent 6a747f92fb
commit 923dfa20ca
1 changed files with 7 additions and 7 deletions
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14
src/arm_pkg/arm_pkg/arm_node.py
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@@ -186,7 +186,7 @@ class SerialRelay(Node):
#debug publish angles #debug publish angles
tempMsg = String() tempMsg = String()
tempMsg.data = "Angles: " + str(angles) tempMsg.data = "Angles: " + str(angles)
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
else: else:
self.get_logger().info("Invalid angle feedback input format") self.get_logger().info("Invalid angle feedback input format")
@@ -399,7 +399,7 @@ class SerialRelay(Node):
# Debug output # Debug output
tempMsg = String() tempMsg = String()
tempMsg.data = "From IK Control Got Vector: " + str(input_raw) tempMsg.data = "From IK Control Got Vector: " + str(input_raw)
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
# Target position is current position + input vector # Target position is current position + input vector
current_position = self.arm.get_position_vector() current_position = self.arm.get_position_vector()
@@ -408,11 +408,11 @@ class SerialRelay(Node):
# Debug output for current position # Debug output for current position
tempMsg.data = "Current Position: " + str(current_position) tempMsg.data = "Current Position: " + str(current_position)
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
# Debug output for target position # Debug output for target position
tempMsg.data = "Target Position: " + str(target_position) tempMsg.data = "Target Position: " + str(target_position)
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
# Perform IK with the target position # Perform IK with the target position
if self.arm.perform_ik(target_position): if self.arm.perform_ik(target_position):
@@ -423,14 +423,14 @@ class SerialRelay(Node):
tempMsg = String() tempMsg = String()
tempMsg.data = "IK Success: " + str(target_position) tempMsg.data = "IK Success: " + str(target_position)
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
tempMsg.data = "Sending: " + str(command) tempMsg.data = "Sending: " + str(command)
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
else: else:
self.get_logger().info("IK Fail") self.get_logger().info("IK Fail")
tempMsg = String() tempMsg = String()
tempMsg.data = "IK Fail" tempMsg.data = "IK Fail"
self.debug_pub.publish(tempMsg) #self.debug_pub.publish(tempMsg)
# Manual control for Wrist/Effector # Manual control for Wrist/Effector
command = "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n" command = "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"