remove more pressure leftovers

Author: val-ba

src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml

@@ -44,9 +44,4 @@ analyzers:
       startswith: ['SYSTEM']
       timeout: 1.0
       find_and_remove_prefix: ['SYSTEM']
-    #Pressure:
-    #  type: diagnostic_aggregator/GenericAnalyzer
-    #  path: Pressure
-    #  startswith: ['PS']
-    #  timeout: 0.2
-    #  find_and_remove_prefix: ['PS']
+

src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/wait_for.py

@@ -21,32 +21,6 @@ def perform(self, reevaluate=False):
         )
 
 
-class WaitForPressureStartup(AbstractHCMActionElement):
-    """
-    Waits for the pressure sensors to connect and not complain since we are still starting up.
-    """
-
-    def perform(self, reevaluate=False):
-        pass
-
-
-class WaitForPressure(AbstractHCMActionElement):
-    """
-    Waits for the pressure sensors to connect and publishes warnings while doing so
-    """
-
-    def perform(self, reevaluate=False):
-        self.blackboard.node.get_logger().warn(
-            "HCM gets no correct pressure data. Waiting for pressure sensors to connect.\n"
-            "Use rqt_monitor to check hardware status. "
-            "Please check if the pressure sensors are correctly zeroed. If you "
-            "have no pressure sensors installed, you may want to set the HCM config "
-            "accordingly. If you just running a visualization on your computer you may want to "
-            "set the visualization_active parameter to True.",
-            throttle_duration_sec=30,
-        )
-
-
 class WaitForMotors(AbstractHCMActionElement):
     """
     Waits for the motors to connect and publishes warnings while doing so

src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm_blackboard.py

@@ -119,12 +119,6 @@ def __init__(self, node: Node):
         self.previous_imu_msg: Optional[Imu] = None
         self.last_different_imu_state_time: Optional[Time] = None
 
-        # Pressure sensors
-        # Initialize values high to prevent wrongly thinking the robot is picked up during start or in simulation
-        self.pressures: list[float] = [100.0] * 8
-        self.previous_pressures: list[float] = self.pressures.copy()
-        self.last_different_pressure_state_time: Optional[Time] = None
-
         # Diagnostics state
         self.servo_diag_error: bool = False
         self.servo_overload: bool = False

src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py

@@ -160,8 +160,6 @@ def diag_cb(self, msg: DiagnosticArray):
                 self.blackboard.servo_diag_error = status.level in (DiagnosticStatus.ERROR, DiagnosticStatus.STALE)
             elif "/IMU" in status.name:
                 self.blackboard.imu_diag_error = status.level in (DiagnosticStatus.ERROR, DiagnosticStatus.STALE)
-            elif "/Pressure" in status.name:
-                self.blackboard.pressure_diag_error = status.level in (DiagnosticStatus.ERROR, DiagnosticStatus.STALE)
 
     def get_state(self) -> T_RobotControlState:
         """Returns the current state of the HCM."""