useless attributes

src/robot_behavior/src/robot_behavior/behavior_global_path_planner_node.py

@@ -48,30 +48,17 @@ class GlobalPathPlannerNode:
             threshold_distance_orientation=self.controller_config.orientation_distance_threshold,
             threshold_distance_arrival=self.controller_config.waypoint_distance)
 
-        self.compute_waypoint_only_once = True
-        self.waypoint_list = None
-        self.waypoint_list_cursor = 0
-
-        self.joint_states_data = None
         self.global_map_data = None
-        self.local_map_data = None
         self.rtabmap_ready = False
         self.global_map_static = None
-        self.go_to_position_target = None
-        self.go_to_done = False
 
-        # To get indexes of the joints
-        self.get_indexes = False
-        self.base_goal = False
         self.goal_position = [5, 1]
 
-        self.wrong_target = False
-
         self.x_wp = 0.
         self.y_wp = 0.
         self.x_final = 0.
         self.y_final = 0.
-        self.th_final = 0.
+        self.yaw_final = 0.
         self.yaw_wp = 0.
         self.flag_waypoint_okay = False
 
@@ -81,26 +68,10 @@ class GlobalPathPlannerNode:
         self.robot_yaw = 0.
         self.robot_position = [0, 0]
         self.robot_position_former = [0, 0]
-        self.former_robot_position = None
-        self.former_yaw = None
-        self.former_local_map = None
-        self.timer_local_map_change = 0
-        self.former_local_map_step_function = None
-        self.timer_local_map_change_step_function = 0
-        self.lock_data_entrance = Lock()
-        # continuous flags
-        self.is_continuous_go_to = False
-        self.continuous_go_to_done = False
-        self.robot_config = None
-        self.controller_status_msg = None
-        self.timestamp_tracking= None
-        self.timestamp_tracking_latest = None
-
+        self.lock_data_entrance = Lock()        
     
         self.init_ros_subscriber_and_publicher()
 
-
-
         self.tf_broadcaster = tf.TransformBroadcaster() # Publish Transform to look for human
         self.tf_listener = tf.TransformListener() # Listen Transform to look for human
 
@@ -195,7 +166,7 @@ class GlobalPathPlannerNode:
         
         current_time = rospy.Time.now()
         # to debug 
-        quat_final = tf.transformations.quaternion_from_euler(0, 0, self.th_final)
+        quat_final = tf.transformations.quaternion_from_euler(0, 0, self.yaw_final)
         self.x_final, self.y_final = self.goal_position
         self.tf_broadcaster.sendTransform(
             (self.x_final, self.y_final, 0),
@@ -218,15 +189,15 @@ class GlobalPathPlannerNode:
 
     def get_robot_pose(self):
         r""" Function that compute the position of the robot on the map """
+        # try:
+        #     map_2_robot = self.tf_listener.lookupTransform(self.map_frame, self.robot_frame, self.timestamp_tracking_latest)
+        # except:
         try:
-            map_2_robot = self.tf_listener.lookupTransform(self.map_frame, self.robot_frame, self.timestamp_tracking_latest)
+            map_2_robot = self.tf_listener.lookupTransform(self.map_frame, self.robot_frame, rospy.Time(0))
+            #rospy.logwarn("Could not get transformation between {} and {} at correct time. Using latest available.".format(self.map_frame, self.robot_frame))
         except:
-            try:
-                map_2_robot = self.tf_listener.lookupTransform(self.map_frame, self.robot_frame, rospy.Time(0))
-                #rospy.logwarn("Could not get transformation between {} and {} at correct time. Using latest available.".format(self.map_frame, self.robot_frame))
-            except:
-                #rospy.logerr("Could not get transformation between {} and {}.".format(self.map_frame, self.robot_frame))
-                return None
+            #rospy.logerr("Could not get transformation between {} and {}.".format(self.map_frame, self.robot_frame))
+            return None
         self.robot_x_position, self.robot_y_position, _ = map_2_robot[0]
         (_, _, yaw) = tf.transformations.euler_from_quaternion([map_2_robot[1][0],
                                                                 map_2_robot[1][1],