minor tidy up for release

Author: david2611

src/benchbot_robot_controller.py

@@ -40,7 +40,7 @@
 CONNS = [CONN_API_TO_ROS, CONN_ROS_TO_API, CONN_ROSCACHE_TO_API]
 
 TIMEOUT_PREPARE = 120
-TIMEOUT_ROS_PING = 5
+TIMEOUT_ROS_PING = 20
 TIMEOUT_RUN = 120
 
 VARIABLES = {
@@ -57,7 +57,6 @@
     'START_POSE':
         "self.config_env['start_pose']",
     'OBJECT_LABELS':
-        # 'str(json.dumps([{"name": lbl.encode("ascii")} for lbl in self.config_env["object_labels"]]))'
         'str(json.dumps([{"name": lbl} for lbl in self.config_env["object_labels"]]))'
 }
 
@@ -94,16 +93,8 @@ def __init__(self, config_robot, config_env, ros_subs, events=None):
         self.prepared = False
 
     def _replace_variables(self, text):
-        # print("TEXT: ", text)
-        # print("SOMETHING: ", self.config_env["object_labels"])
-        # print("SOMETHING ELSE: ", [{"name": lbl.encode("ascii")} for lbl in self.config_env["object_labels"]])
-        # print("SOMETHING MORE: ", json.dumps([{"name": lbl} for lbl in self.config_env["object_labels"]]))
         for k, v in VARIABLES.items():
-            # print("KEY: ", k)
-            # print("EVAL")
-            # print(eval(v))
             text = text.replace("$%s" % k, str(eval(v)))
-        # print("UPDATED TEXT:", text)
         return text
 
     def destroy(self):

src/robot_callbacks.py

@@ -36,7 +36,6 @@ def _define_initial_pose(controller):
             controller.tf_buffer.lookup_transform(
                 controller.config['robot']['global_frame'],
                 controller.config['robot']['robot_frame'], rospy.Time()))
-        print("INITIAL POSE Robot Callbacks: " +str(controller.state['initial_pose']))
 
 
 def _get_noisy_pose(controller, child_frame):
@@ -189,7 +188,7 @@ def create_pose_list(data, controller):
     if 'initial_pose' in controller.config['robot']['poses']:
         tfs['initial_pose'] = controller.state['initial_pose']
 
-    # x REMOVE HACK FOR FIXING CAMERA NAME!!!
+    # TODO REMOVE HACK FOR FIXING CAMERA NAME!!!
     return {
         'camera' if 'camera_left' in k else k: {
             'parent_frame': controller.config['robot']['global_frame'],