Merge pull request start-jsk#183 from snozawa/remove_deprecated_codes

Merged
itohdak · May 22, 2015 · 8b72088 · 8b72088
2 parents 40a8309 + 860e71e
commit 8b72088
Showing 1 changed file with 5 additions and 25 deletions.
diff --git a/jsk_hrp2_ros_bridge/scripts/jsk_hrp2_setup.py b/jsk_hrp2_ros_bridge/scripts/jsk_hrp2_setup.py
@@ -26,20 +26,10 @@
 class JSKHRP2RealHrpsysConfigurator(JSKHRP2HrpsysConfigurator):
     hc = None
     hc_svc = None
-    el2 = None
-    el2_svc = None
     ROBOT_NAME = None
 
     def connectComps(self):
-        HrpsysConfigurator.connectComps(self)
-        # for el2
-        if self.rh.port("servoState") != None:
-            if self.el2:
-                connectPorts(self.el.port("q"), self.el2.port("qRef"))
-                connectPorts(self.rh.port("servoState"), self.el2.port("servoStateIn"))
-        if self.el2:
-            connectPorts(self.rh.port("q"), self.el2.port("qCurrent"))
-            connectPorts(self.rh.port("tau"), self.el2.port("tau"))
+        JSKHRP2HrpsysConfigurator.connectComps(self)
         if self.rh.port("servoState") != None:
             if self.hc:
                 connectPorts(self.rh.port("servoState"), self.hc.port("servoStateIn"))
@@ -73,15 +63,15 @@ def getRTCList(self):
 
     def init(self):
         url="/home/grxuser/prog/rtmros_hrp2/hrp2_models/"+self.ROBOT_NAME+"_for_OpenHRP3/"+self.ROBOT_NAME+"main.wrl"
-        HrpsysConfigurator.init(self, self.ROBOT_NAME, url)
+        JSKHRP2HrpsysConfigurator.init(self, self.ROBOT_NAME, url)
 
     def setupLogger(self):
         # Stop all rtcs other than DataLogger for fast connecting of logger data ports.
         rtcList = self.getRTCInstanceList()
         for r in rtcList:
             if r.name() != "log":
                 r.stop()
-        HrpsysConfigurator.setupLogger(self)
+        JSKHRP2HrpsysConfigurator.setupLogger(self)
         # Start all rtcs again
         for r in rtcList:
             if r.name() != "log":
@@ -94,7 +84,7 @@ def setupLogger(self):
     # activateComps and waitForROSBridge are just for debugging.
     def activateComps(self):
 #        self.waitForROSBridge()
-        HrpsysConfigurator.activateComps(self)
+        JSKHRP2HrpsysConfigurator.activateComps(self)
 
     def waitForROSBridge(self):
         bridge = False
@@ -316,15 +306,5 @@ def check_argument (self):
                 exit()
 
     def __init__(self, robotname=""):
-        if robotname=="":
-            if os.environ["HRP2NO"] == '17':
-                self.ROBOT_NAME = "HRP2JSKNTS"
-            elif os.environ["HRP2NO"] == '16':
-                self.ROBOT_NAME = "HRP2JSKNT"
-            elif os.environ["HRP2NO"] == '7':
-                self.ROBOT_NAME = "HRP2JSK"
-            elif os.environ["HRP2NO"] == '8':
-                self.ROBOT_NAME = "HRP2W"
-        else:
-            self.ROBOT_NAME = robotname
+        self.ROBOT_NAME = robotname
         JSKHRP2HrpsysConfigurator.__init__(self, robotname)