removed rebroadcaster

ret15108 · Mar 23, 2018 · 2d2fc03 · 2d2fc03
1 parent dcc1171
commit 2d2fc03
Showing 1 changed file with 11 additions and 10 deletions.
diff --git a/src/geo_controller.py b/src/geo_controller.py
@@ -26,21 +26,22 @@ def laser_subscriber(msg, thetas):
     """
     I've hijacked this method to provide a visual of the thetas we're using
     """
-    publisher = rospy.Publisher("editscan", LaserScan, queue_size=10)
-    indices = interp(thetas, [msg.angle_min, msg.angle_max], [0, len(msg.ranges) - 1])
-    map(lambda x: int(x), indices)
-    # Drop everything but what we want.
-    for i in range(len(msg.ranges)):
-        if i not in indices:
-            msg.ranges[i] = 0
-            msg.intensities = 0
-    publisher.publish(msg)
+    #publisher = rospy.Publisher("editscan", LaserScan, queue_size=10)
+    #indices = interp(thetas, [msg.angle_min, msg.angle_max], [0, len(msg.ranges) - 1])
+    #map(lambda x: int(x), indices)
+    ## Drop everything but what we want.
+    #for i in range(len(msg.ranges)):
+    #    if i not in indices:
+    #        msg.ranges[i] = 0
+    #        msg.intensities = 0
+    #publisher.publish(msg)
+    pass
 
 def main():
     print("Geometric Controller Initialized")
     rospy.init_node('geometric_controller_filter')
     pub = rospy.Publisher("drive_parameters", drive_params)
-    laser_sub = rospy.Subscriber("scan", LaserScan, laser_subscriber, [-math.pi/2, -11*math.pi/24])
+    #laser_sub = rospy.Subscriber("scan", LaserScan, laser_subscriber, [-math.pi/2, -11*math.pi/24])
     # rospy.spin()
     counter = 0
     while(not rospy.core.is_shutdown()):