asr_vosk: Allow to handle keyword and command in one sentence
[ros_wild_thumper.git] / scripts / wt_node.py
index 2969d61..bffabce 100755 (executable)
@@ -58,7 +58,6 @@ class WTBase:
                sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
-               ir_count = 0
                sonar_count = 0
                i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
                while not rospy.is_shutdown():
@@ -69,13 +68,6 @@ class WTBase:
                        self.get_odom()
                        self.get_power()
 
-                       if ir_count == 0:
-                               self.get_dist_left()
-                               ir_count+=1
-                       else:
-                               self.get_dist_right()
-                               ir_count=0
-
                        if sonar_count == 0:
                                self.get_dist_forward_left()
                                self.update_dist_backward()