Delete 'src/gazebo_setMasses.py'

src/gazebo_setMasses.py

@@ -1,65 +0,0 @@
-#!/usr/bin/env python2.7
-
-### Cesar Rodriguez Jul 2022
-### Sets mass of links in gazebo to desired values
-
-import rospy
-from gazebo_msgs.srv import SetLinkProperties
-
-
-class Main:
-    def __init__(self):
-        self.tstart		= rospy.get_time() # Keep track of the start time
-        while self.tstart == 0.0:				 # Need to make sure get_rostime works
-            self.tstart		= rospy.get_time()
-
-		# Constants
-        self.param_exists = False
-        while self.param_exists == False:
-            if rospy.has_param('drone_mass'):
-                self.drone_m	= rospy.get_param('drone_mass') # wait time
-                self.param_exists = True
-            elif rospy.has_param('sim/drone_mass'):
-                self.drone_m	= rospy.get_param('sim/drone_mass') # wait time
-                self.param_exists = True
-            elif rospy.get_time() - self.tstart >= 3.0:
-                self.drone_m = 1.0
-                rospy.loginfo('DRONE MASS NOT FOUND IN CONFIG FILE')
-                break
-
-        self.param_exists = False
-        while self.param_exists == False:
-            if rospy.has_param('pload_mass'):
-                self.pl_m	= rospy.get_param('pload_mass') # wait time
-                self.param_exists = True
-            elif rospy.has_param('sim/pload_mass'):
-                self.pl_m	= rospy.get_param('sim/pload_mass') # wait time
-                self.param_exists = True
-            elif rospy.get_time() - self.tstart >= 3.0:
-                self.pl_m = 0.0
-                rospy.loginfo('PLOAD MASS NOT FOUND IN CONFIG FILE')
-                break
-
-        self.drone_ids	  = ['spiri_with_tether::spiri::base', 'spiri::base']
-        self.pload_id	  = 'spiri_with_tether::mass::payload'
-        self.service      = '/gazebo/set_link_properties'
-
-        self.set_mass = rospy.ServiceProxy(self.service,SetLinkProperties)
-
-        for name in self.drone_ids:
-            self.set_drone_mass = self.set_mass(link_name=name,mass=self.drone_m)
-            if self.set_drone_mass.success:
-                rospy.loginfo('Set "%s" mass to: %.2f kg', name,self.drone_m)
-                break
-
-        self.set_pload_mass = self.set_mass(link_name=self.pload_id,mass=self.pl_m)
-        if self.set_pload_mass.success:
-            rospy.loginfo('Set "%s" mass to: %.2f kg', self.pload_id,self.pl_m)
-        
-
-if __name__=="__main__":
-
-    # Initiate ROS node
-    rospy.init_node('SetMassNode',anonymous=False)
-    Main() # create class object
-