From c21baca5e1ba59c738b362c619512a8a28b7055c Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Tue, 5 Dec 2023 14:00:25 +0100
Subject: [PATCH] allow disarming when not in offboard mode

---
 src/hw_api_plugin.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/hw_api_plugin.cpp b/src/hw_api_plugin.cpp
index ad2df2b..db5aeee 100644
--- 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;