Remove motor start delay

Signed-off-by: Florian Vahl <florian@flova.de>

Author: Flova

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

@@ -36,15 +36,3 @@ def perform(self, reevaluate=False):
         if self.blackboard.node.get_clock().now().nanoseconds / 1e9 > self.start_time + self.duration:
             self.pop()
 
-
-class WaitRosControlStartDelay(Wait):
-    """
-    The motors need some time to start up,
-    the time at which we start sending commands is defined in the config of the ros_control node.
-    This action waits for that time.
-    """
-
-    def __init__(self, blackboard, dsd, parameters):
-        super().__init__(blackboard, dsd, parameters)
-        self.duration = self.blackboard.motor_start_delay
-        self.blackboard.node.get_logger().info("Waiting for the motors to start up...")

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

@@ -37,11 +37,6 @@ def __init__(self, node: Node):
         self.visualization_active: bool = self.node.get_parameter("visualization_active").value
         self.pickup_accel_threshold: float = self.node.get_parameter("pick_up_accel_threshold").value
         self.pressure_sensors_installed: bool = self.node.get_parameter("pressure_sensors_installed").value
-        self.motor_start_delay: int = 0
-        if not self.simulation_active:  # The hardware interface is obviously not available in simulation
-            self.motor_start_delay = get_parameters_from_other_node_sync(
-                self.node, "/wolfgang_hardware_interface", ["start_delay"]
-            )["start_delay"]
 
         # Create service clients
         self.motor_switch_pub = self.node.create_publisher(PowerSwitch, "/power_switch_control")