Merge remote-tracking branch 'origin' into inverse-kinematics-requests

huskyroboticsteam · Jun 4, 2023 · 6354a89 · 6354a89
2 parents d71ae6a + bf351e2
commit 6354a89
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Showing 2 changed files with 3 additions and 6 deletions.
diff --git a/src/Rover.cpp b/src/Rover.cpp
@@ -30,6 +30,7 @@ using namespace navtypes;
 using namespace robot::types;
 
 void closeRover(int signum) {
+	robot::emergencyStop();
 	rospub::shutdown();
 	Globals::websocketServer.stop();
 	raise(SIGTERM);

diff --git a/src/world_interface/real_world_interface.cpp b/src/world_interface/real_world_interface.cpp
@@ -4,11 +4,9 @@
 #include "../Constants.h"
 #include "../Globals.h"
 #include "../Util.h"
-#include "../ar/read_landmarks.h"
 #include "../ardupilot/ArduPilotInterface.h"
 #include "../camera/Camera.h"
 #include "../gps/usb_gps/read_usb_gps.h"
-#include "../lidar/read_hokuyo_lidar.h"
 #include "../log.h"
 #include "../navtypes.h"
 #include "motor/can_motor.h"
@@ -139,8 +137,6 @@ void setupCameras() {
 void world_interface_init(bool initOnlyMotors) {
 	if (!initOnlyMotors) {
 		setupCameras();
-		bool lidar_success = lidar::initializeLidar();
-		bool landmark_success = AR::initializeLandmarkDetection();
 		ardupilot::initArduPilotProtocol(Globals::websocketServer);
 	}
 	can::initCAN();
@@ -236,11 +232,11 @@ DataPoint<pose_t> getTruePose() {
 }
 
 landmarks_t readLandmarks() {
-	return AR::readLandmarks();
+	return {};
 }
 
 DataPoint<points_t> readLidarScan() {
-	return lidar::readLidar();
+	return {};
 }
 
 DataPoint<pose_t> readVisualOdomVel() {