chore: cleanup

LASR-at-Home · Jul 12, 2024 · b2b8aa8 · b2b8aa8
1 parent 1948430
commit b2b8aa8
Showing 1 changed file with 16 additions and 18 deletions.
diff --git a/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py b/tasks/carry_my_luggage/src/carry_my_luggage/state_machine.py
@@ -141,7 +141,6 @@ def wait_cb(ud, msg):
                 "SAY_BAG",
                 Say(format_str="I need you to give me the bag on your {}."),
                 transitions={
-                    # "succeeded": "CLEAR_COSTMAPS",
                     "succeeded": "START_HEAD_MANAGER",
                     "aborted": "failed",
                     "preempted": "failed",
@@ -204,22 +203,22 @@ def wait_cb(ud, msg):
                     "preempted": "failed",
                 },
             )
-            # smach.StateMachine.add(
-            #     "INITIALISE_PERSON_TRACK",
-            #     smach_ros.ServiceState(
-            #         "/cml/initialise_person_with_vision",
-            #         InitialisePersonWithVision,
-            #         request_cb=lambda ud, req: InitialisePersonWithVisionRequest(
-            #             point=ud.person_point,
-            #         ),
-            #         input_keys=["person_point"],
-            #     ),
-            #     transitions={
-            #         "succeeded": "FOLLOW",
-            #         "aborted": "FOLLOW",
-            #         "preempted": "FOLLOW",
-            #     },
-            # )
+            smach.StateMachine.add(
+                "INITIALISE_PERSON_TRACK",
+                smach_ros.ServiceState(
+                    "/cml/initialise_person_with_vision",
+                    InitialisePersonWithVision,
+                    request_cb=lambda ud, req: InitialisePersonWithVisionRequest(
+                        point=ud.person_point,
+                    ),
+                    input_keys=["person_point"],
+                ),
+                transitions={
+                    "succeeded": "FOLLOW",
+                    "aborted": "FOLLOW",
+                    "preempted": "FOLLOW",
+                },
+            )
 
             smach.StateMachine.add(
                 "FOLLOW",
@@ -228,7 +227,6 @@ def wait_cb(ud, msg):
                     FollowAction,
                 ),
                 transitions={
-                    # "succeeded": "succeeded",
                     "succeeded": "SAY_HANDOVER",
                     "aborted": "failed",
                     "preempted": "failed",