Small cleanup

launch/hero_bringup.launch

@@ -206,6 +206,9 @@
             <remap from="odom" to="base/measurements" />
         </node>
 
+        <!-- Joystick controller -->
+        <include file="$(find hero_bringup)/launch/tools/joy_teleop.launch" />
+
     </group> <!-- End of TU/e namespace group -->
 
 </launch>

launch/tools/joy_teleop.launch

@@ -4,8 +4,6 @@
     <arg name="namespace" default="/hero" />
 
     <group ns="$(arg namespace)">
-        <!-- <rosparam command="load" file="$(find hero_bringup)/parameters/tools/teleop.yaml" /> -->
-
         <node name="joy_teleop" pkg="joy" type="joy_node" />
 
         <node name="joy_controls" pkg="hero_bringup" type="joystick_controls_node" />

scripts/joystick_controls_node

@@ -4,12 +4,9 @@ import sys
 
 import rospy
 import rosnode
-import actionlib
 from sensor_msgs.msg import Joy
 from geometry_msgs.msg import Twist
 from sensor_msgs.msg import JointState
-from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryActionGoal
-from tue_manipulation_msgs.msg import GripperCommandAction, GripperCommandActionGoal
 from robot_skills.get_robot import get_robot
 from robot_skills.arm import arms
 
@@ -19,11 +16,9 @@ class JoystickControls(object):
         Subscribes to the Joy messages sent via the controller and the joy node and then transforms these to the desired behavior
         """
         self.controller_mode = 4
-        # self.map = self.controller_mappings[self.controller_mode]
         self.controller_sub = rospy.Subscriber("joy", Joy, self.map_joystick, queue_size=1)
         self.gripper_state_sub = rospy.Subscriber("joint_states", JointState, self.get_gripper_state, queue_size=1)
 
-        # Publish to kill all state_machines, to open/close the gripper, to move the base, loaded trajectory/pose, move the end effector
         self.base_pub = rospy.Publisher("base/references", Twist, queue_size=1)
         self.robot = get_robot('hero')
         self.robot_arm = self.robot.get_arm(required_gripper_types=[arms.GripperTypes.GRASPING], required_goals=['show_gripper'])