Revert "Add crosswalk link (#86)" (#93)

This reverts commit 28d2771.
CMU-cabot · Nov 20, 2024 · 3c0376b · 3c0376b
1 parent 28d2771
commit 3c0376b
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Showing 2 changed files with 5 additions and 58 deletions.
diff --git a/cabot_ui/cabot_ui/geojson.py b/cabot_ui/cabot_ui/geojson.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2020, 2024  Carnegie Mellon University and Miraikan
+# Copyright (c) 2020, 2022  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
@@ -43,20 +43,6 @@
 from cabot_ui.cabot_rclpy_util import CaBotRclpyUtil
 
 
-class RouteStruct(enum.Enum):
-    """ Route Struct Class """
-    """ See p.14 of https://www.mlit.go.jp/common/001244374.pdf """
-    Sidewalk = 1
-    SidewalkNotSeparatedFromRoadway = 2
-    Crosswalk = 3
-    CrosswalkWithoutSurfaceMarking = 4
-    Underpass = 5
-    PedestrianBridge = 6
-    InFacility = 7
-    OtherRouteStruct = 8
-    Unknown = 99
-
-
 class Geometry(object):
     """Geometry class"""
 
@@ -159,8 +145,7 @@ def marshal(cls, dic):
         "hulop_tags": None,
         "hulop_poi_external_category": None,
         "hulop_show_labels_zoomlevel": None,
-        "hulop_road_width": 1.5,
-        "rt_struct": RouteStruct.InFacility
+        "hulop_road_width": 1.5
         }
 
     def __getattr__(self, name):
@@ -427,16 +412,13 @@ class NavigationMode(enum.Enum):
     Standard = 0
     Narrow = 1
     Tight = 2
-    Crosswalk = 5
 
     @classmethod
-    def get_mode(cls, width, rt_struct):
+    def get_mode(cls, width):
         if width < 1.0:
             return NavigationMode.Tight
         if width < 1.2:
             return NavigationMode.Narrow
-        if rt_struct == RouteStruct.Crosswalk or rt_struct == RouteStruct.CrosswalkWithoutSurfaceMarking:
-            return NavigationMode.Crosswalk
         return NavigationMode.Standard
 
 
@@ -503,10 +485,7 @@ def is_leaf(self):
 
     @property
     def navigation_mode(self):
-        return NavigationMode.get_mode(
-            width=self.properties.hulop_road_width,
-            rt_struct=self.properties.rt_struct
-            )
+        return NavigationMode.get_mode(self.properties.hulop_road_width)
 
     @property
     def length(self):

diff --git a/cabot_ui/cabot_ui/navgoal.py b/cabot_ui/cabot_ui/navgoal.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2022, 2024  Carnegie Mellon University and Miraikan
+# Copyright (c) 2022  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
@@ -699,36 +699,6 @@ def get_parameters_for(cls, mode):
     complete_stop: [false,false,true,false,true,false,true]
 /cabot/speed_control_node_touch_false:
     complete_stop: [false,false,true,false,true,false,true]
-"""
-        if mode == geojson.NavigationMode.Crosswalk:
-            params = """
-/planner_server:
-    CaBot.path_adjusted_center: 0.0
-    CaBot.path_adjusted_minimum_path_width: 0.0
-    CaBot.path_width: 0.0
-    CaBot.min_iteration_count: 5
-    CaBot.max_iteration_count: 10
-    CaBot.ignore_people: True
-/footprint_publisher:
-    footprint_mode: 3
-/controller_server:
-    FollowPath.max_vel_x: 1.0
-    FollowPath.sim_time: 0.5
-    cabot_goal_checker.xy_goal_tolerance: 0.1
-/global_costmap/global_costmap:
-    people_obstacle_layer.people_enabled: False
-    inflation_layer.inflation_radius: 0.45
-/local_costmap/local_costmap:
-    inflation_layer.inflation_radius: 0.45
-/cabot/lidar_speed_control_node:
-    min_distance: 0.60
-/cabot/people_speed_control_node:
-    social_distance_x: 1.0
-    social_distance_y: 0.50
-/cabot/speed_control_node_touch_true:
-    complete_stop: [false,false,true,false,true,false,true]
-/cabot/speed_control_node_touch_false:
-    complete_stop: [false,false,true,false,true,false,true]
 """
         data = yaml.safe_load(params)
         return data
@@ -897,8 +867,6 @@ def done_callback(self, future):
         if status == GoalStatus.STATUS_SUCCEEDED:
             if self.mode == geojson.NavigationMode.Narrow or self.mode == geojson.NavigationMode.Tight:
                 self.delegate.activity_log("cabot/navigation", "goal_completed", "NarrowGoal")
-            if self.mode == geojson.NavigationMode.Crosswalk:
-                self.delegate.activity_log("cabot/navigation", "goal_completed", "CrosswalkGoal")
 
         if status == GoalStatus.STATUS_SUCCEEDED and self.route_index + 1 < len(self.navcog_routes):
             self.route_index += 1