Merge pull request #89 from CMU-cabot/revert-84-matsumura/fix-velocit…

…y-obstacles-bug

Revert "Matsumura/fix velocity obstacles bug"

cabot/CMakeLists.txt

@@ -19,7 +19,6 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(rcutils REQUIRED)
 find_package(diagnostic_updater REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
@@ -34,7 +33,6 @@ find_package(visualization_msgs REQUIRED)
 set(dependencies
   rclcpp
   rclcpp_components
-  rcutils
   diagnostic_updater
   geometry_msgs
   nav_msgs

cabot/include/cabot/util.hpp

@@ -1,4 +1,4 @@
-// Copyright 2020, 2024 Carnegie Mellon University and Miraikan
+// Copyright 2020 Carnegie Mellon University
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -25,7 +25,6 @@
 #include <tf2/LinearMath/Transform.h>
 
 #include <algorithm>
-#include <array>
 #include <string>
 
 #include <rclcpp/rclcpp.hpp>
@@ -91,9 +90,6 @@ void add_arrow(
 void add_text(
   rclcpp::Time now, std::string text, Point point,
   float size = 0.5, float r = 0, float g = 0, float b = 0, float a = 1);
-void add_triangle(
-  rclcpp::Time now, const std::array<Point, 3> & points,
-  float size = 1.0, float r = 0, float g = 0, float b = 0, float a = 1);
 }  // namespace CaBotSafety
 
 #endif  // CABOT__UTIL_HPP_

cabot/package.xml

@@ -12,7 +12,6 @@
 
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
-  <depend>rcutils</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>