From 815c635be84c80492243e9afaa22b70edfbaa4f4 Mon Sep 17 00:00:00 2001
From: kbrowne15 <kathryn.browne@nasa.gov>
Date: Mon, 3 Apr 2023 16:15:19 -0700
Subject: [PATCH] Remove old ekf tool (#716)

---
 management/executive/CMakeLists.txt          |  8 ---
 management/executive/tools/ekf_switch_mux.cc | 76 --------------------
 2 files changed, 84 deletions(-)
 delete mode 100644 management/executive/tools/ekf_switch_mux.cc

diff --git a/management/executive/CMakeLists.txt b/management/executive/CMakeLists.txt
index ac8ef7e8a8..17de870092 100644
--- a/management/executive/CMakeLists.txt
+++ b/management/executive/CMakeLists.txt
@@ -94,12 +94,6 @@ add_dependencies(data_to_disk_pub ${catkin_EXPORTED_TARGETS})
 target_link_libraries(data_to_disk_pub
   executive gflags ${catkin_LIBRARIES})
 
-## Declare a C++ executable: ekf_switch_mux
-add_executable(ekf_switch_mux tools/ekf_switch_mux.cc)
-add_dependencies(ekf_switch_mux ${catkin_EXPORTED_TARGETS})
-target_link_libraries(ekf_switch_mux
-  executive gflags ${catkin_LIBRARIES})
-
 ## Declare a C++ executable: plan_pub
 add_executable(plan_pub tools/plan_pub.cc)
 add_dependencies(plan_pub ${catkin_EXPORTED_TARGETS})
@@ -160,14 +154,12 @@ install(FILES nodelet_plugins.xml
 
 # Install C++ executables
 install(TARGETS data_to_disk_pub DESTINATION bin)
-install(TARGETS ekf_switch_mux DESTINATION bin)
 install(TARGETS plan_pub DESTINATION bin)
 install(TARGETS simple_move DESTINATION bin)
 install(TARGETS teleop_tool DESTINATION bin)
 install(TARGETS zones_pub DESTINATION bin)
 install(CODE "execute_process(
   COMMAND ln -s ../../bin/data_to_disk_pub share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/ekf_switch_mux share/${PROJECT_NAME}
   COMMAND ln -s ../../bin/plan_pub share/${PROJECT_NAME}
   COMMAND ln -s ../../bin/simple_move share/${PROJECT_NAME}
   COMMAND ln -s ../../bin/teleop_tool share/${PROJECT_NAME}
diff --git a/management/executive/tools/ekf_switch_mux.cc b/management/executive/tools/ekf_switch_mux.cc
deleted file mode 100644
index 7c6ceaeec2..0000000000
--- a/management/executive/tools/ekf_switch_mux.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-/* Copyright (c) 2017, United States Government, as represented by the
- * Administrator of the National Aeronautics and Space Administration.
- * 
- * All rights reserved.
- * 
- * The Astrobee platform is licensed under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with the
- * License. You may obtain a copy of the License at
- * 
- *     http://www.apache.org/licenses/LICENSE-2.0
- * 
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations
- * under the License.
- */
-
-// A node to switch the EKF input from landmarks to sparse mapping,
-// or something else. This is needed because both landmarks and registration
-// need to be switched at the same time.
-
-#include <ros/ros.h>
-#include <ros/console.h>
-
-#include <topic_tools/MuxSelect.h>
-
-#include <ff_common/init.h>
-
-#include <iostream>
-#include <string>
-
-const std::string kRegistrationNode = "mux_registration";
-const std::string kLandmarksNode    = "mux_landmarks";
-
-int main(int argc, char **argv) {
-  ff_common::InitFreeFlyerApplication(&argc, &argv);
-  ros::init(argc, argv, "ekf_switch_mux");
-
-  if (argc < 2) {
-    std::cerr << "Usage: " << argv[0] << " [sparse_mapping|marker_tracking]"
-              << std::endl;
-    return 1;
-  }
-
-  ros::NodeHandle n("~");
-
-
-  if (!ros::service::waitForService("mux_registration/select", 10000)) {
-    std::cerr << "Error: no mux services? is mux_registration running?"
-              << std::endl;
-    return 1;
-  }
-
-  topic_tools::MuxSelect reg_sel;
-  reg_sel.request.topic = std::string(argv[1]) + "/registration";
-
-  if (!ros::service::call("/mux_registration/select", reg_sel)) {
-    std::cerr << "Error: error calling mux_registration/select"
-              << std::endl;
-    return 1;
-  }
-
-  topic_tools::MuxSelect land_sel;
-  land_sel.request.topic = std::string(argv[1]) + "/landmarks";
-
-  if (!ros::service::call("/mux_landmarks/select", land_sel)) {
-    std::cerr << "Error: error calling mux_landmarks/select"
-              << std::endl;
-    std::cerr << "NOTE: mux_registration and mux_landmarks are inconsistent!"
-              << std::endl;
-    return 1;
-  }
-
-  return 0;
-}