Merge pull request #255 from PickNikRobotics/remove-getstringfromuser

Remove GetStringFromUser from Take Snapshot
PickNikRobotics · Apr 18, 2024 · 5a4d5ba · 5a4d5ba
2 parents a925f20 + 1293fdc
commit 5a4d5ba
Showing 1 changed file with 1 addition and 6 deletions.
diff --git a/src/picknik_ur_site_config/objectives/take_snapshot.xml b/src/picknik_ur_site_config/objectives/take_snapshot.xml
@@ -6,12 +6,7 @@
       <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
       <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}" timeout_sec="15.000000"/>
       <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
-      <Control ID="Fallback" name="TryGetStringFromUser">
-        <Action ID="GetStringFromUser" parameter_name="take_snapshot.uuid" parameter_value="{uuid}"/>
-        <!--if we fail to get the string from the user fallback to an empty value for the uuid-->
-        <Action ID="Script" code="uuid := ''"/>
-      </Control>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid="{uuid}"/>
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" />
     </Control>
   </BehaviorTree>
 </root>