remove unrelated changes

Signed-off-by: Kenta Konagaya <[email protected]>

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
@@ -145,8 +145,7 @@ def marshal(cls, dic):
         "hulop_tags": None,
         "hulop_poi_external_category": None,
         "hulop_show_labels_zoomlevel": None,
-        "hulop_road_width": 1.5,
-        "levDif_max": None
+        "hulop_road_width": 1.5
         }
 
     def __getattr__(self, name):
@@ -413,15 +412,9 @@ class NavigationMode(enum.Enum):
     Standard = 0
     Narrow = 1
     Tight = 2
-    ClimbUpStep = 3
-    ClimbDownStep = 4
 
     @classmethod
-    def get_mode(cls, width, step_height, is_facing_upward):
-        if step_height is not None:
-            if step_height < 5.0:
-                res_mode = NavigationMode.ClimbUpStep if is_facing_upward else NavigationMode.ClimbDownStep
-                return res_mode
+    def get_mode(cls, width):
         if width < 1.0:
             return NavigationMode.Tight
         if width < 1.2:
@@ -490,6 +483,10 @@ def is_leaf(self):
             return False
         return self.start_node.is_leaf or self.end_node.is_leaf
 
+    @property
+    def navigation_mode(self):
+        return NavigationMode.get_mode(self.properties.hulop_road_width)
+
     @property
     def length(self):
         """distance from start to end"""
@@ -550,15 +547,6 @@ def is_temp(self):
     def pose(self):
         return geoutil.Pose.pose_from_points(self.source_node.local_geometry, self.target_node.local_geometry)
 
-    @property
-    def navigation_mode(self):
-        is_facing_upward = self.source_node == self.start_node
-        return NavigationMode.get_mode(
-                width=self.properties.hulop_road_width,
-                step_height=self.properties.levDif_max,
-                is_facing_upward=is_facing_upward
-                )
-
 
 class Node(Object):
     """Node class"""

cabot_ui/cabot_ui/navgoal.py

@@ -1,4 +1,4 @@
-# Copyright (c) 2020, 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
@@ -639,12 +639,6 @@ def get_parameters_for(cls, mode):
 /cabot/people_speed_control_node:
     social_distance_x: 2.0
     social_distance_y: 0.5
-/cabot/odrive_can_node_right:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-/cabot/odrive_can_node_left:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
 """
         if mode == geojson.NavigationMode.Narrow:
             params = """
@@ -675,12 +669,6 @@ 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]
-/cabot/odrive_can_node_right:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-/cabot/odrive_can_node_left:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
 """
         if mode == geojson.NavigationMode.Tight:
             params = """
@@ -711,76 +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]
-/cabot/odrive_can_node_right:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-/cabot/odrive_can_node_left:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-"""
-        if mode == geojson.NavigationMode.ClimbUpStep:
-            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: 0
-/controller_server:
-    FollowPath.max_vel_x: 0.3
-    FollowPath.sim_time: 1.7
-    cabot_goal_checker.xy_goal_tolerance: 0.5
-/global_costmap/global_costmap:
-    people_obstacle_layer.people_enabled: False
-    inflation_layer.inflation_radius: 0.75
-/local_costmap/local_costmap:
-    inflation_layer.inflation_radius: 0.75
-/cabot/lidar_speed_control_node:
-    min_distance: 1.0
-/cabot/people_speed_control_node:
-    social_distance_x: 1.0
-    social_distance_y: 0.50
-/cabot/odrive_can_node_right:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-/cabot/odrive_can_node_left:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-"""
-        if mode == geojson.NavigationMode.ClimbDownStep:
-            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: 0
-/controller_server:
-    FollowPath.max_vel_x: 0.3
-    FollowPath.sim_time: 1.7
-    cabot_goal_checker.xy_goal_tolerance: 0.5
-/global_costmap/global_costmap:
-    people_obstacle_layer.people_enabled: False
-    inflation_layer.inflation_radius: 0.75
-/local_costmap/local_costmap:
-    inflation_layer.inflation_radius: 0.75
-/cabot/lidar_speed_control_node:
-    min_distance: 1.0
-/cabot/people_speed_control_node:
-    social_distance_x: 1.0
-    social_distance_y: 0.50
-/cabot/odrive_can_node_right:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
-/cabot/odrive_can_node_left:
-    vel_gain: 1.0
-    vel_integrator_gain: 4.0
 """
         data = yaml.safe_load(params)
         return data
@@ -901,7 +819,6 @@ def nav_params_keys(self):
     def nav_params(self):
         new_mode = self.navcog_routes[self.route_index][2]
         self.mode = new_mode
-        self.delegate.activity_log("cabot/navigation", "change_mode", f"{self.mode}")
         return Nav2Params.get_parameters_for(new_mode)
 
     def enter(self):