Remove unnecessary param

leggedrobotics · Sep 6, 2023 · ce6f3b2 · ce6f3b2
1 parent 04a58b7
commit ce6f3b2
Show file tree

Hide file tree

Showing 4 changed files with 2 additions and 6 deletions.
diff --git a/wild_visual_navigation/traversability_estimator/traversability_estimator.py b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
@@ -63,7 +63,6 @@ def __init__(
         self._params = params
         self._scale_traversability_threshold = 0
         self._anomaly_detection = anomaly_detection
-        self._vis_training_samples = vis_training_samples
 
         if self._scale_traversability:
             # Use 500 bins for constant memory usuage

diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -34,7 +34,6 @@ min_samples_for_training: 5
 prediction_per_pixel: True
 traversability_threshold: 0.55
 clip_to_binary: False
-vis_training_samples: True
 
 # Supervision Generator
 untraversable_thr: 0.01
@@ -51,7 +50,7 @@ status_thread_rate: 0.5 # hertz
 
 # Runtime options
 device: "cuda"
-mode: "online" # check out comments in the class WVNMode
+mode: "debug" # check out comments in the class WVNMode
 colormap: "RdYlBu"
 
 print_image_callback_time: false

diff --git a/wild_visual_navigation_ros/launch/replay_launch.launch b/wild_visual_navigation_ros/launch/replay_launch.launch
@@ -3,7 +3,7 @@
   <arg name="name"              default="wild_visual_navigation_node"/>
   <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
   <arg name="rviz_config"       default="anymal.rviz" />
-  <arg name="anymal_config"     default="/home/rschmid/RosBags/6_raw/2023-03-02-11-13-08_anymal-d020-lpc_mission.yaml" />
+  <arg name="anymal_config"     default="/home/rschmid/RosBags/11/2023-03-02-12-31-23_anymal-d020-lpc_mission.yaml" />
 
   <arg name="anymal_converter"  default="True"/>
   <arg name="anymal_rsl_launch" default="True"/>

diff --git a/wild_visual_navigation_ros/scripts/wvn_learning_node.py b/wild_visual_navigation_ros/scripts/wvn_learning_node.py
@@ -78,7 +78,6 @@ def __init__(self):
             patch_size=self.dino_patch_size,
             scale_traversability=self.scale_traversability,
             anomaly_detection=self.anomaly_detection,
-            vis_training_samples=self.vis_training_samples,
         )
 
         # Initialize traversability generator to process velocity commands
@@ -299,7 +298,6 @@ def read_params(self):
         # Select mode: # debug, online, extract_labels
         self.mode = WVNMode.from_string(rospy.get_param("~mode", "debug"))
         self.extraction_store_folder = rospy.get_param("~extraction_store_folder")
-        self.vis_training_samples = rospy.get_param("~vis_training_samples")
 
         # Parse operation modes
         if self.mode == WVNMode.ONLINE: