Clean up ROS 2 topic, fix frontend api call

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Mar 27, 2024 · 9f76d37 · 9f76d37
1 parent e49a3c2
commit 9f76d37
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Showing 2 changed files with 2 additions and 46 deletions.
diff --git a/packages/api-server/api_server/gateway.py b/packages/api-server/api_server/gateway.py
@@ -26,7 +26,6 @@
 from rmf_fleet_msgs.msg import DeliveryAlertAction as RmfDeliveryAlertAction
 from rmf_fleet_msgs.msg import DeliveryAlertCategory as RmfDeliveryAlertCategory
 from rmf_fleet_msgs.msg import DeliveryAlertTier as RmfDeliveryAlertTier
-from rmf_fleet_msgs.msg import InterruptRequest as RmfInterruptRequest
 from rmf_ingestor_msgs.msg import IngestorState as RmfIngestorState
 from rmf_lift_msgs.msg import LiftRequest as RmfLiftRequest
 from rmf_lift_msgs.msg import LiftState as RmfLiftState
@@ -110,17 +109,6 @@ def __init__(
             ),
         )
 
-        self._decommission_robot_request = ros_node().create_publisher(
-            RmfInterruptRequest,
-            "robot_decommission_request",
-            rclpy.qos.QoSProfile(
-                history=rclpy.qos.HistoryPolicy.KEEP_LAST,
-                depth=10,
-                reliability=rclpy.qos.ReliabilityPolicy.RELIABLE,
-                durability=rclpy.qos.DurabilityPolicy.TRANSIENT_LOCAL,
-            ),
-        )
-
         self.cached_files = cached_files
         self.logger = logger or base_logger.getChild(self.__class__.__name__)
         self._subscriptions: List[Subscription] = []
@@ -294,36 +282,6 @@ def respond_to_delivery_alert(
         msg.message = message
         self._delivery_alert_response.publish(msg)
 
-    def decommission_robot(
-        self,
-        fleet_name: str,
-        robot_name: str,
-        request_id: str,
-        labels: List[str],
-    ):
-        msg = RmfInterruptRequest()
-        msg.fleet_name = fleet_name
-        msg.robot_name = robot_name
-        msg.interrupt_id = request_id
-        msg.labels = labels
-        msg.type = RmfInterruptRequest.TYPE_INTERRUPT
-        self._decommission_robot_request.publish(msg)
-
-    def recommission_robot(
-        self,
-        fleet_name: str,
-        robot_name: str,
-        request_id: str,
-        labels: List[str],
-    ):
-        msg = RmfInterruptRequest()
-        msg.fleet_name = fleet_name
-        msg.robot_name = robot_name
-        msg.interrupt_id = request_id
-        msg.labels = labels
-        msg.type = RmfInterruptRequest.TYPE_RESUME
-        self._decommission_robot_request.publish(msg)
-
 
 _rmf_gateway: RmfGateway
 

diff --git a/packages/dashboard/src/components/robots/robot-decommission.tsx b/packages/dashboard/src/components/robots/robot-decommission.tsx
@@ -54,8 +54,7 @@ export function RobotDecommissionButton({
       if (!rmf) {
         throw new Error('fleets api not available');
       }
-      const id = `decommission-${fleet}-${robotState.name}-${Date.now()}`;
-      await rmf.fleetsApi?.decommissionRobotFleetsNameDecommissionPost(fleet, robotState.name, id);
+      await rmf.fleetsApi?.decommissionRobotFleetsNameDecommissionPost(fleet, robotState.name);
       appController.showAlert('success', `Decommission of ${fleet}:${robotState.name} requested`);
     } catch (e) {
       appController.showAlert(
@@ -75,8 +74,7 @@ export function RobotDecommissionButton({
       if (!rmf) {
         throw new Error('fleets api not available');
       }
-      const id = `recommission-${fleet}-${robotState.name}-${Date.now()}`;
-      await rmf.fleetsApi?.recommissionRobotFleetsNameRecommissionPost(fleet, robotState.name, id);
+      await rmf.fleetsApi?.recommissionRobotFleetsNameRecommissionPost(fleet, robotState.name);
       appController.showAlert('success', `Recommission of ${fleet}:${robotState.name} requested`);
     } catch (e) {
       appController.showAlert(