Upload files to 'src/fc_network_adapter/fc_network_adapter'

src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py

@@ -159,27 +159,7 @@ class mavlink_publisher():
     def packEmit_global_rel(cls, emitParams, publisher):
         mav_msg = emitParams['global_position']
         msg = std_msgs.msg.Float64()
-        msg.data = mav_msg.relative_alt/1e3
-        publisher.publish(msg)
-        pass
-
-    def create_global_vel(self, sysid, component_obj):
-        target_topic = 'global_position/gp_vel'
-        try:
-            _ = component_obj.emitParams['global_position']
-        except KeyError:
-            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
-            return False
-        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
-        publisher_ = self.create_publisher(geometry_msgs.msg.Vector3, topic_name, 1)
-        component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_vel]
-
-    def packEmit_global_vel(cls, emitParams, publisher):
-        mav_msg = emitParams['global_position']
-        msg = geometry_msgs.msg.Vector3()
-        msg.x = mav_msg.vx/1e2
-        msg.y = mav_msg.vy/1e2
-        msg.z = mav_msg.vz/1e2
+        msg.data = float(mav_msg.relative_alt/1e3)
         publisher.publish(msg)
         pass