Remove local position setpoint

ethz-asl · Nov 28, 2023 · 535cdd6 · 535cdd6
1 parent 8da36e8
commit 535cdd6
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diff --git a/terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h b/terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h
@@ -165,7 +165,6 @@ class TerrainPlanner {
   ros::Publisher camera_pose_pub_;
   ros::Publisher posehistory_pub_;
   ros::Publisher referencehistory_pub_;
-  ros::Publisher position_setpoint_pub_;
   ros::Publisher global_position_setpoint_pub_;
   ros::Publisher position_target_pub_;
   ros::Publisher path_target_pub_;

diff --git a/terrain_navigation_ros/src/terrain_planner.cpp b/terrain_navigation_ros/src/terrain_planner.cpp
@@ -74,7 +74,6 @@ TerrainPlanner::TerrainPlanner(const ros::NodeHandle &nh, const ros::NodeHandle
       nh_.subscribe("mavros/state", 1, &TerrainPlanner::mavstateCallback, this, ros::TransportHints().tcpNoDelay());
   mavmission_sub_ = nh_.subscribe("mavros/mission/waypoints", 1, &TerrainPlanner::mavMissionCallback, this,
                                   ros::TransportHints().tcpNoDelay());
-  position_setpoint_pub_ = nh_.advertise<mavros_msgs::PositionTarget>("mavros/setpoint_raw/local", 1);
   global_position_setpoint_pub_ = nh_.advertise<mavros_msgs::GlobalPositionTarget>("mavros/setpoint_raw/global", 1);
   path_target_pub_ = nh_.advertise<mavros_msgs::Trajectory>("mavros/trajectory/generated", 1);
   vehicle_pose_pub_ = nh_.advertise<visualization_msgs::Marker>("vehicle_pose_marker", 1);