X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=scripts%2Farm_ros_conn.py;h=9ca59f268c147b55cec9168b1b6ef49a448126c7;hp=ff06cdf8264a28c5c0f749162e01cbf0d91176ab;hb=88aa19cc672e02cf19405a39691ef9f63b1acef5;hpb=94ec2a02bbbb2e60719a6be979cc78b3ee66439e

diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py
index ff06cdf..9ca59f2 100755
--- a/scripts/arm_ros_conn.py
+++ b/scripts/arm_ros_conn.py
@@ -2,24 +2,15 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
-import tf
-from nav_msgs.msg import Odometry
 
 class ARMRosConn():
 	def __init__(self):
 		rospy.init_node('arm')
 
-		rospy.Subscriber("odom", Odometry, self.odom_received)
-		self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
-
 		rate = rospy.Rate(10)
 		while not rospy.is_shutdown():
 			rate.sleep()
 
-	def odom_received(self, msg):
-		pos = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z)
-		orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)
-		self.tf_broadcaster.sendTransform(pos, orientation, rospy.Time.now(), "base_link", "odom")
 
 if __name__ == '__main__':
 	ARMRosConn()