Removed gamepad recording stuff from previous commit for cleaning up.

arm_teleop/avp_teleop_node.py

@@ -44,7 +44,6 @@ class AVPTeleopNode(Node):
         # Publisher
         self.franka_pose_publisher = self.create_publisher(Float64MultiArray, '/franka/pose_demand', 10)
         self.wrist_servo_demand_publisher = self.create_publisher(Float64MultiArray, '/wrist/servo_demand', 10)
-        self.exp_status_publisher = self.create_publisher(String, '/exp_status', 10)
 
         # Gamepad
         self.gp = GamepadFunctions()
@@ -278,34 +277,6 @@ class AVPTeleopNode(Node):
                 msg.data = franka_demand
                 self.franka_pose_publisher.publish(msg)
 
-    def timer_callback(self):
-        if self.gp.button_data["left"] == 1 and (self.teleop_timer is None):
-            self.teleop_timer = time.time()
-            msg = String(); msg.data = "Timer start"
-            self.exp_status_publisher.publish(msg)
-
-        if self.gp.button_data["left"] == 0 and (self.teleop_timer is not None):
-            if self.teleop_timer > 1:
-                print(round(time.time() - self.teleop_timer, 3))
-                self.teleop_timer = None
-                msg = String(); msg.data = "Timer end"
-                self.exp_status_publisher.publish(msg)
-
-        if self.gp.button_data["circle"] == 1:
-            print("Success!")
-            msg = String(); msg.data = "Success"
-            self.exp_status_publisher.publish(msg)
-
-        if self.gp.button_data["cross"] == 1:
-            print("Fail!")
-            msg = String(); msg.data = "Fail"
-            self.exp_status_publisher.publish(msg)
-
-        if self.gp.button_data["square"] == 1:
-            print("Disgard!")
-            msg = String(); msg.data = "Disgard"
-            self.exp_status_publisher.publish(msg)
-
 def main():
     rclpy.init()
     node = AVPTeleopNode()