Disable ROS 1 support, removing all transitive dependencies but keepi…

…ng old code compiling.
ihmcrobotics · Dec 5, 2024 · 1e8d365 · 1e8d365
1 parent 5051931
commit 1e8d365
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Showing 133 changed files with 4,644 additions and 1,436 deletions.
diff --git a/atlas/src/main/java/us/ihmc/atlas/handControl/sandia/SandiaHandManualControlUI.java b/atlas/src/main/java/us/ihmc/atlas/handControl/sandia/SandiaHandManualControlUI.java
@@ -25,7 +25,7 @@
 import org.ros.namespace.GraphName;
 import org.ros.node.AbstractNodeMain;
 import org.ros.node.ConnectedNode;
-import org.ros.node.DefaultNodeMainExecutor;
+//import org.ros.node.DefaultNodeMainExecutor;
 import org.ros.node.NodeConfiguration;
 import org.ros.node.NodeMainExecutor;
 import org.ros.node.topic.Publisher;
@@ -393,8 +393,8 @@ public static void main(String[] args) throws URISyntaxException
          master = new URI(MASTER_URI);
 
       NodeConfiguration nodeConfiguration = RosTools.createNodeConfiguration(master);
-      NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
-      nodeMainExecutor.execute(new SandiaHandManualControlUI(), nodeConfiguration);
+//      NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
+//      nodeMainExecutor.execute(new SandiaHandManualControlUI(), nodeConfiguration);
    }
 
    class FingerJointSliderMouseListener implements MouseListener

diff --git a/atlas/src/main/java/us/ihmc/atlas/jfxvisualizer/AtlasHeightMapTopicConverter.java b/atlas/src/main/java/us/ihmc/atlas/jfxvisualizer/AtlasHeightMapTopicConverter.java
@@ -4,7 +4,7 @@
 import map_sense.RawGPUPlanarRegionList;
 import org.apache.commons.lang3.mutable.MutableInt;
 import org.jboss.netty.buffer.ChannelBuffer;
-import org.jboss.netty.buffer.LittleEndianHeapChannelBuffer;
+//import org.jboss.netty.buffer.LittleEndianHeapChannelBuffer;
 import org.ros.message.Duration;
 import org.ros.message.Time;
 import sensor_msgs.PointCloud2;
@@ -237,15 +237,15 @@ private static PointCloud2 packMessage(PointCloud2 message, Point3D[] points)
       message.setIsDense(true);
       message.setFields(pointType.getPointField());
 
-      ChannelBuffer buffer = new LittleEndianHeapChannelBuffer(dataLength);
-      for (int i = 0; i < points.length; i++)
-      {
-         buffer.writeFloat((float) points[i].getX());
-         buffer.writeFloat((float) points[i].getY());
-         buffer.writeFloat((float) points[i].getZ());
-         buffer.writeFloat(100.0f);
-      }
-      message.setData(buffer);
+//      ChannelBuffer buffer = new LittleEndianHeapChannelBuffer(dataLength);
+//      for (int i = 0; i < points.length; i++)
+//      {
+//         buffer.writeFloat((float) points[i].getX());
+//         buffer.writeFloat((float) points[i].getY());
+//         buffer.writeFloat((float) points[i].getZ());
+//         buffer.writeFloat(100.0f);
+//      }
+//      message.setData(buffer);
 
       return message;
    }

diff --git a/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/ros/ROSiRobotCommandDispatcher.java b/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/ros/ROSiRobotCommandDispatcher.java
diff --git a/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/ros/ROSiRobotCommunicator.java b/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/ros/ROSiRobotCommunicator.java
diff --git a/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/ros/RosCameraBenchmarker.java b/ihmc-avatar-interfaces/src/main/java/us/ihmc/avatar/ros/RosCameraBenchmarker.java
diff --git a/...terfaces/src/main/java/us/ihmc/avatar/ros/subscriber/RosArmJointTrajectorySubscriber.java b/...terfaces/src/main/java/us/ihmc/avatar/ros/subscriber/RosArmJointTrajectorySubscriber.java