allow disarming when not in offboard mode

ctu-mrs · Dec 5, 2023 · c21baca · c21baca
1 parent b1701e8
commit c21baca
Showing 1 changed file with 0 additions and 6 deletions.
diff --git a/src/hw_api_plugin.cpp b/src/hw_api_plugin.cpp
@@ -297,12 +297,6 @@ std::tuple<bool, std::string> Api::callbackArming([[maybe_unused]] const bool& r
 
   std::stringstream ss;
 
-  if (!request && !offboard_) {
-    ss << "can not disarm, not in OFFBOARD mode";
-    ROS_WARN_STREAM_THROTTLE(1.0, "[MrsSimulatorHwApi]: " << ss.str());
-    return std::tuple(false, ss.str());
-  }
-
   if (request) {
 
     armed_ = true;