little cleaning the commented code and spaces

Author: RUFFY-369

rotors_driver/src/rotors_driver_node.py

@@ -218,7 +218,6 @@ def rotors_arm(self, req):
 			self.__is_armed = True
 			time.sleep(1)  # waits 1 sec
 			tk_req = CommandTOL()
-			# success, result = self.rotors_takeoff_land(1)  # arming is actually taking off in OFFBOARD flight mode
 			return True, 1
 		else:
 			rospy.loginfo("Firefly Disarming")
@@ -245,13 +244,8 @@ def rotors_change_speed(self, speed):
 		'''speed in m/s'''
 		speed = self.CONSTRAINTS.constraint_speed(int(speed)*100)  # to cm/s
 
-		# if self.__send_cmd("speed {}".format(str(speed))):
-		# 	rospy.loginfo("Rotors drone speed updated to " + str(speed))
-		# 	rospy.set_param("/rotors/speed", speed)
 		return True
-		# else:
-		# 	return False
-
+	
 	def rotors_param_set(self, param_id, value=float(12.0)):
         # string param_id
         # mavros_msgs/ParamValue value
@@ -321,7 +315,6 @@ def publish_position_desired(self, msg):
 
 
 
-		# print("publishing","current x:",self.current_x, "current y:",self.current_y, "current z:", self.current_z, "current des_vel_x:", self.vx_des, "current des_vel_y:", self.vy_des, "current des_vel_z:", self.vz_des)
 
 		quaternion = tf.transformations.quaternion_from_euler(0, 0, desired_yaw_to_go)
 
@@ -356,7 +349,6 @@ def publish_position_desired(self, msg):
 
 
 		rospy.spin()
-		# rospy.loginfo(" >> Published waypoint: x: {}, y: {}, z: {}, yaw: {}".format(x_des, y_des, z_des, yaw_des,vx_des, vy_des, vz_des))
 
 
 	except rospy.ROSInterruptException:

rotors_driver/test/test_pubs.py

@@ -18,8 +18,8 @@
 TEMP = "{}\n" \
        "\n" \
        "###########################\n" \
-       "#      TELLO STATUS       #\n" \
-       "#                         #\n" \
+       "#      ROTORS STATUS       #\n" \
+       "#  (some are dummy params) #\n" \
        "#  MODE: {}       #\n" \
        "#  STATE: {}       #\n" \
        "#  BAT:   {:02d} %            #\n" \
@@ -70,7 +70,7 @@ def global_cb(msg):
 
 
 def print_status():
-    os.system('clear')  # Elegant-less
+    os.system('clear')  
     print(TEMP.format(CONT, state.mode, ext_state_codes[ext_state], bat_percent, h), end='\r')
 
 

rotors_driver/test/test_rotors_driver.py

@@ -6,23 +6,10 @@
 import time
 
 from drone_wrapper import DroneWrapper
-# setpoint_raw_publisher = rospy.Publisher('mavros/setpoint_raw/local', PositionTarget, queue_size=1)
 
 d = DroneWrapper()
 time.sleep(5.0)#for letting the rotors node initialise
 
-# a  =d.get_frontal_image()
-# print("pos:",a)
-# time.sleep(3)
-
-# time.sleep(2.0)
-# d.set_cmd_pos(0.0,0.0,3.0,0.0)
-# time.sleep(3.0)
-# d.set_cmd_vel(0.3,0.3,0.0,0.0)
-# time.sleep(3.5)
-# d.set_cmd_mix(0.3,0.3,1.0,0.0)
-# time.sleep(3.5)
-# time.sleep(5)
 while True:
     d.set_cmd_pos(0.0,0.0,3.0,0.0)
     time.sleep(0.5)