Revert "Add robot init function to create *ri* and robot instance"

pr2eus/CMakeLists.txt

@@ -36,7 +36,6 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(test/robot-no-clock.test)
   add_rostest(test/default-ri-test.test)
   add_rostest(test/speak-test.test)
-  add_rostest(test/robot-init-test.test)
 endif()
 
 generate_eusdoc(robot-interface.l)

pr2eus/package.xml

@@ -35,8 +35,5 @@
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>sound_play</run_depend>
 
-  <export>
-    <pr2eus robot-name="pr2" interface-file="${prefix}/pr2-interface.l" />
-  </export>
 </package>
 

pr2eus/robot-interface.l

@@ -1683,45 +1683,4 @@ send-action [ send message to action server, it means robot will move ]"
     (ros::service-call (format nil "~A/~A/~A/set_parameters" node-name costmap-name inflation-name) req)
     ))
 
-;;
-;; robot-init
-;;
-(defun robot-init (&optional (robot-name (ros::get-param "/robot/type")))
-  "Initialize robot-model and robot-interface instances respectively, such as *pr2* and *ri*.
-   Behavior:
-     1. Without /robot/type and argument, or no interface file is found, robot instance and interface instance are not created and errors are invoked.
-     2. If argument are specified and robot interface file is found, robot instance and interface with given name are created.
-     3. If no argument is specified, /robot/type ROSPARAM is set, and robot interface file is found, robot instance and interface with given name are created.
-   Typical usage:
-     (robot-init) ;; With setting /robot/type ROSPARAM anywhere.
-     (robot-init (or (ros::get-param \"/robot/type\") \"pr2\")) ;; If /robot/type ROSPARAM is specified, use it. Otherwise, use \"pr2\" by default.
-   Configuring user-defined robot:
-     This function searches robot interface file from rospack plugins.
-     If user want to use their own robots from robot-init function,
-     please write export tag in [user_defined_rospackage]/package.xml as pr2eus/package.xml.
-   "
-  (let* (;; Check existence ros::rospack-plugins for robot-name-list and interface-file-list.
-         ;;    For example, old deb environment before ros::rospack-plugins is committed.
-         (robot-name-list
-          (if (fboundp 'ros::rospack-plugins)
-              (mapcar #'cdr (ros::rospack-plugins "pr2eus" "robot-name"))
-            (piped-fork-returns-list "rospack plugins --attrib=robot-name pr2eus | cut -d\\  -f2")))
-         (interface-file-list
-          (if (fboundp 'ros::rospack-plugins)
-              (mapcar #'cdr (ros::rospack-plugins "pr2eus" "interface-file"))
-            (piped-fork-returns-list "rospack plugins --attrib=interface-file pr2eus | cut -d\\  -f2")))
-         (robot-name-interface-file-list
-          (assoc robot-name (mapcar #'(lambda (x y) (list x y))
-                                    robot-name-list interface-file-list)
-                 :test #'string=)))
-    (cond
-     ((or (not robot-name-interface-file-list)
-          (not (probe-file (cadr robot-name-interface-file-list))))
-      (error ";; No such robot interface setting are defined ~A, or interface file found ~A!!~%" robot-name (cadr robot-name-interface-file-list))
-      nil)
-     (t
-      (require (cadr robot-name-interface-file-list))
-      (funcall (eval (read-from-string (format nil "#'~A-init" robot-name))))
-      ))))
-
 (provide :robot-interface "robot-interface.l")