Remove vestigial and unused code (#291)

huskyroboticsteam · Jan 8, 2024 · 80965ab · 80965ab
1 parent ff4a247
commit 80965ab
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Showing 32 changed files with 0 additions and 2,560 deletions.
diff --git a/.gitmodules b/.gitmodules
diff --git a/rover-config/.motion/camera0.conf b/rover-config/.motion/camera0.conf
diff --git a/rover-config/.motion/camera1.conf b/rover-config/.motion/camera1.conf
diff --git a/rover-config/.motion/camera2.conf b/rover-config/.motion/camera2.conf
diff --git a/rover-config/.motion/motion.conf b/rover-config/.motion/motion.conf
diff --git a/rover-config/README.md b/rover-config/README.md
@@ -8,7 +8,6 @@ filesystem.
 
 | **File/Directory**          | **Location on Rover** | **Description**                                                                |
 | -----------------           | --------------------  | --------------                                                                 |
-| `.motion/`                  | `/home/$USER/`        | Configuration files for Motion (currently handles our video streaming.)        |
 | `50-usb-hokuyo-lidar.rules` | `/etc/udev/rules.d/`  | `udev` rules for making sure we have permissions to access the lidar over USB. |
 | `50-rover-cameras.rules`    | `/etc/udev/rules.d/`  | `udev` rules for making sure cameras have stable IDs.                          |
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -273,13 +273,8 @@ list(APPEND simulator_libs
 add_executable(Rover Rover.cpp)
 add_library(rover_common SHARED
   Globals.cpp
-  rospub.cpp
   network/websocket/WebSocketServer.cpp
   network/websocket/WebSocketProtocol.cpp
-  worldmap/GlobalMap.cpp
-  worldmap/TrICP.cpp
-  worldmap/QuadTree.cpp
-  planning/plan.cpp
   )
 target_link_libraries(rover_common
   utils
@@ -318,7 +313,6 @@ target_link_libraries(TunePID ${vision_libs})
 if(WITH_TESTS)
   add_executable(tests
     Tests.cpp
-    rospub_test.cpp
     # AR Detection tests
     ar/DetectorTests.cpp
     ar/MarkerSetTests.cpp
@@ -341,9 +335,6 @@ if(WITH_TESTS)
     ../tests/filters/MultiSensorEKFTest.cpp
     ../tests/filters/StateSpaceUtilsTest.cpp
     ../tests/filters/FullPoseEstimatorTest.cpp
-    ../tests/worldmap/TrICPTest.cpp
-    ../tests/worldmap/GlobalMapTest.cpp
-    ../tests/worldmap/QuadTreeTest.cpp
     # Command tests
     ../tests/commands/DriveToWaypointCommandTest.cpp
     # Util tests

diff --git a/src/Rover.cpp b/src/Rover.cpp
@@ -2,7 +2,6 @@
 #include "Globals.h"
 #include "navtypes.h"
 #include "network/MissionControlProtocol.h"
-#include "rospub.h"
 #include "world_interface/world_interface.h"
 
 #include <array>
@@ -30,7 +29,6 @@ using namespace robot::types;
 
 void closeRover(int signum) {
 	robot::emergencyStop();
-	rospub::shutdown();
 	Globals::websocketServer.stop();
 	raise(SIGTERM);
 }
@@ -188,7 +186,6 @@ int main(int argc, char** argv) {
 	robot::world_interface_init();
 	auto mcProto = std::make_unique<net::mc::MissionControlProtocol>(Globals::websocketServer);
 	Globals::websocketServer.addProtocol(std::move(mcProto));
-	rospub::init();
 	// Ctrl+C doesn't stop the simulation without this line
 	signal(SIGINT, closeRover);
 

diff --git a/src/WorldData.h b/src/WorldData.h
diff --git a/src/gps/example_gps_legs.txt b/src/gps/example_gps_legs.txt
diff --git a/src/gps/simulator_legs.txt b/src/gps/simulator_legs.txt
diff --git a/src/gps/zero_legs.txt b/src/gps/zero_legs.txt
diff --git a/src/math/PointXY.h b/src/math/PointXY.h