Suppression of mc_node

CMakeLists.txt

@@ -32,7 +32,6 @@ ament_python_install_package(${PROJECT_NAME})
 # Install Python executables
 install(PROGRAMS
   ${PROJECT_NAME}/armada_control.py
-  ${PROJECT_NAME}/mc_node.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

ls2n_drone_armada/mc_node.py

-#!/usr/bin/env python3
-
-from ls2n_drone_interfaces.srv import DroneRequest
-from ls2n_drone_interfaces.msg import DroneStatus
-import rclpy
-from rclpy.node import Node
-from std_srvs.srv import Empty
-from std_msgs.msg import Bool
-from rclpy.qos import qos_profile_sensor_data
-
-qos_profile_sensor_data.depth = 1
-
-
-class MCNode(Node):
-    def __init__(self):
-        super().__init__("multi_control_simulation")
-        self.get_logger().info("Start multi control simulation")
-        self.create_service(Empty, "StartExperiment", self.start_experimentation)
-        self.create_service(Empty, "StopExperiment", self.stop_experimentation)
-        self.create_service(Empty, "SpinMotors", self.spin_motors)
-        self.create_service(
-            Empty, "ActivateArmadaControl", self.activate_armada_control
-        )
-        self.multi_control_client = self.create_client(DroneRequest, "Request")
-        self.drone_status = DroneStatus.status
-        self.status_pub = self.create_publisher(
-            Bool, "/armada_status", qos_profile_sensor_data
-        )
-
-    def spin_motors(self, request, response):
-        """
-        Callback function of the service spin motors. All drones spin when the service is called.
-        :return response: The response of the service.
-        """
-        self.get_logger().info("Spin motors request made")
-        request_out = DroneRequest.Request()
-        request_out.request = DroneRequest.Request.SPIN_MOTORS
-        self.multi_control_client.call_async(request_out)
-
-        return response
-
-    def start_experimentation(self, request, response):
-        """
-        Callback function of the service for start experimentation. All drones take-off when the service is called.
-        :return: The response of the service.
-        """
-        self.get_logger().info("Start Experiment request made")
-        request_out = DroneRequest.Request()
-        request_out.request = DroneRequest.Request.TAKE_OFF
-        self.multi_control_client.call_async(request_out)
-
-        return response
-
-    def stop_experimentation(self, request, response):
-        """
-        Callback function of the service stop experimentation. All drones land when the service is called.
-        :return response: The response of the service.
-        """
-        self.get_logger().info("Stop Experiment request made")
-        msg = Bool()
-        msg.data = False
-        self.active = False
-        request_out = DroneRequest.Request()
-        request_out.request = DroneRequest.Request.LAND
-        self.multi_control_client.call_async(request_out)
-
-        return response
-
-    def activate_armada_control(self, request, response):
-        self.get_logger().info("activate armada control request made")
-        msg = Bool()
-        msg.data = True
-        self.status_pub.publish(msg)
-        request_out = DroneRequest.Request()
-        request_out.request = DroneRequest.Request.ARMADA_CONTROL
-        self.multi_control_client.call_async(request_out)
-
-        return response
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    multi_control = MCNode()
-
-    try:
-        rclpy.spin(multi_control)
-    except KeyboardInterrupt:
-        print("Shutting down Drone Cable procedure")
-    finally:
-        multi_control.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()