From a4bf685ab35caaba19f55ef9f1931fed97d3310f Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 15 Nov 2024 15:44:40 -0500
Subject: [PATCH] Remove the update_rate parameter; it's not supported by
 axis_camera

---
 .../clearpath_generator_common/description/sensors.py         | 4 +---
 clearpath_sensors_description/urdf/axis_camera.urdf.xacro     | 4 ----
 2 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/clearpath_generator_common/clearpath_generator_common/description/sensors.py b/clearpath_generator_common/clearpath_generator_common/description/sensors.py
index 8e08d00..8fe4dd0 100644
--- a/clearpath_generator_common/clearpath_generator_common/description/sensors.py
+++ b/clearpath_generator_common/clearpath_generator_common/description/sensors.py
@@ -152,14 +152,12 @@ def __init__(self, sensor: BaseCamera) -> None:
 
     class AxisCameraDescription(CameraDescription):
         MODEL = 'model'
-        UPDATE_RATE = 'update_rate'
 
         def __init__(self, sensor: AxisCamera) -> None:
             super().__init__(sensor)
 
             self.parameters.update({
-                self.MODEL: sensor.device_type,
-                self.UPDATE_RATE: sensor.fps,
+                self.MODEL: sensor.device_type
             })
 
     class IntelRealsenseDescription(CameraDescription):
diff --git a/clearpath_sensors_description/urdf/axis_camera.urdf.xacro b/clearpath_sensors_description/urdf/axis_camera.urdf.xacro
index 0fc73fc..6dc154e 100644
--- a/clearpath_sensors_description/urdf/axis_camera.urdf.xacro
+++ b/clearpath_sensors_description/urdf/axis_camera.urdf.xacro
@@ -8,7 +8,6 @@
         parent_link
         *origin
         model:=dome_ptz
-        update_rate:=15
         topic:=image_raw
     ">
         <xacro:if value="${model == 'dome_fixed'}">
@@ -16,7 +15,6 @@
                 prefix="${name}"
                 parent="${parent_link}"
                 topic="${topic}"
-                update_rate="${update_rate}"
             >
                 <xacro:insert_block name="origin" />
             </xacro:axis_dome_fixed>
@@ -26,7 +24,6 @@
                 prefix="${name}"
                 parent="${parent_link}"
                 topic="${topic}"
-                update_rate="${update_rate}"
             >
                 <xacro:insert_block name="origin" />
             </xacro:axis_dome_ptz>
@@ -36,7 +33,6 @@
                 prefix="${name}"
                 parent="${parent_link}"
                 topic="${topic}"
-                update_rate="${update_rate}"
             >
                 <xacro:insert_block name="origin" />
             </xacro:axis_q62>