Minor changes in api.cpp

novakfi8 · Nov 4, 2024 · be3064b · be3064b
1 parent 6e577bb
commit be3064b
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/src/api.cpp b/src/api.cpp
@@ -526,8 +526,6 @@ bool MrsUsvArduroverApi::callbackPositionCmd([[maybe_unused]] const mrs_msgs::Hw
 
   ROS_INFO_ONCE("[%s]: getting position cmd", node_name.c_str());
 
-  ROS_INFO("[%s]: getting position cmd", node_name.c_str());
-
   if (!_capabilities_.accepts_position_cmd) {
     ROS_ERROR("[%s]: the position input is not enabled in the config file", node_name.c_str());
     return false;
@@ -578,7 +576,6 @@ bool MrsUsvArduroverApi::callbackPositionCmd([[maybe_unused]] const mrs_msgs::Hw
 
   // fill position target command
   position_target.header.stamp = ros::Time::now();
-  position_target.coordinate_frame = position_target.FRAME_LOCAL_NED;
 
   position_target.type_mask = 0;
   position_target.type_mask += position_target.IGNORE_VX+position_target.IGNORE_VY+position_target.IGNORE_VZ;
@@ -590,7 +587,8 @@ bool MrsUsvArduroverApi::callbackPositionCmd([[maybe_unused]] const mrs_msgs::Hw
   position_target.position.y = pose_transformed.value().pose.pose.position.y;
   position_target.position.z = pose_transformed.value().pose.pose.position.z;
   position_target.yaw = position_target_yaw;
-
+
+  // publish position target command
   ph_mavros_position_target_.publish(position_target);
 
   return true;