Tools: remove old iris_ros.py files

Tools/autotest/pysim/iris_ros.py

@@ -1,114 +0,0 @@
-#!/usr/bin/env python
-"""
-Python interface to euroc ROS multirotor simulator
-See https://pixhawk.org/dev/ros/sitl
-"""
-
-import time
-
-import mav_msgs.msg as mav_msgs
-import px4.msg as px4
-import rosgraph_msgs.msg as rosgraph_msgs
-import rospy
-import sensor_msgs.msg as sensor_msgs
-
-from aircraft import Aircraft
-from pymavlink.rotmat import Vector3, Matrix3
-
-
-def quat_to_dcm(q1, q2, q3, q4):
-    """Convert quaternion to DCM."""
-    q3q3 = q3 * q3
-    q3q4 = q3 * q4
-    q2q2 = q2 * q2
-    q2q3 = q2 * q3
-    q2q4 = q2 * q4
-    q1q2 = q1 * q2
-    q1q3 = q1 * q3
-    q1q4 = q1 * q4
-    q4q4 = q4 * q4
-
-    m = Matrix3()
-    m.a.x = 1.0-2.0*(q3q3 + q4q4)
-    m.a.y =   2.0*(q2q3 - q1q4)
-    m.a.z =   2.0*(q2q4 + q1q3)
-    m.b.x =   2.0*(q2q3 + q1q4)
-    m.b.y =   1.0-2.0*(q2q2 + q4q4)
-    m.b.z =   2.0*(q3q4 - q1q2)
-    m.c.x =   2.0*(q2q4 - q1q3)
-    m.c.y =   2.0*(q3q4 + q1q2)
-    m.c.z = 1.0-2.0*(q2q2 + q3q3)
-    return m
-
-
-class IrisRos(Aircraft):
-    """A IRIS MultiCopter from ROS."""
-    def __init__(self):
-        Aircraft.__init__(self)
-        self.max_rpm = 1200
-        self.have_new_time = False
-        self.have_new_imu = False
-        self.have_new_pos = False
-
-        topics = {
-            "/clock"                        : (self.clock_cb, rosgraph_msgs.Clock),
-            "/iris/imu"                     : (self.imu_cb, sensor_msgs.Imu),
-            "/iris/vehicle_local_position"  : (self.pos_cb, px4.vehicle_local_position),
-            }
-
-        rospy.init_node('ArduPilot', anonymous=True)
-        for topic in topics.keys():
-            (callback, msgtype) = topics[topic]
-            rospy.Subscriber(topic, msgtype, callback)
-
-        self.motor_pub = rospy.Publisher('/iris/command/motor_speed',
-                                         mav_msgs.CommandMotorSpeed,
-                                         queue_size=1)
-        self.last_time = 0
-
-        # spin() simply keeps python from exiting until this node is stopped
-        # rospy.spin()
-
-    def clock_cb(self, msg):
-        self.time_now = self.time_base + msg.clock.secs + msg.clock.nsecs*1.0e-9
-        self.have_new_time = True
-
-    def imu_cb(self, msg):
-        self.gyro = Vector3(msg.angular_velocity.x,
-                            -msg.angular_velocity.y,
-                            -msg.angular_velocity.z)
-        self.accel_body = Vector3(msg.linear_acceleration.x,
-                                  -msg.linear_acceleration.y,
-                                  -msg.linear_acceleration.z)
-        self.dcm = quat_to_dcm(msg.orientation.w,
-                               msg.orientation.x,
-                               -msg.orientation.y,
-                               -msg.orientation.z)
-        self.have_new_imu = True
-
-    def pos_cb(self, msg):
-        self.velocity = Vector3(msg.vx, msg.vy, msg.vz)
-        self.position = Vector3(msg.x, msg.y, msg.z)
-        self.have_new_pos = True
-
-    def update(self, actuators):
-        while self.last_time == self.time_now or not self.have_new_time or not self.have_new_imu or not self.have_new_pos:
-            time.sleep(0.001)
-        self.have_new_time = False
-        self.have_new_pos = False
-        self.have_new_imu = False
-
-        # create motor speed message
-        msg = mav_msgs.CommandMotorSpeed()
-        msg.header.stamp = rospy.get_rostime()
-        motor_speed = []
-        for i in range(len(actuators)):
-            motor_speed.append(actuators[i]*self.max_rpm)
-        msg.motor_speed = motor_speed
-
-        self.last_time = self.time_now
-
-        self.motor_pub.publish(msg)
-        
-        # update lat/lon/altitude
-        self.update_position()