deleting relocation of robot

field_friend/interface/components/leaflet_map.py

@@ -7,7 +7,6 @@
 from nicegui.elements.leaflet_layers import GenericLayer, Marker, TileLayer
 
 from ...localization.geo_point import GeoPoint
-from ...localization.gnss_simulation import GnssSimulation
 from .key_controls import KeyControls
 
 if TYPE_CHECKING:
@@ -92,13 +91,6 @@ def update_layers(self) -> None:
                                                             args=[row.points_as_tuples, {'color': '#F2C037'}]))
 
     def update_robot_position(self, position: GeoPoint, dialog=None) -> None:
-        # TODO: where does the dialog come from?
-        if dialog:
-            self.on_dialog_close()
-            dialog.close()
-            # TODO why can we only relocate in simulation?
-            if isinstance(self.gnss, GnssSimulation):
-                self.gnss.relocate(position)
         self.robot_marker = self.robot_marker or self.m.marker(latlng=position.tuple)
         icon = 'L.icon({iconUrl: "assets/robot_position_side.png", iconSize: [50,50], iconAnchor:[20,20]})'
         self.robot_marker.run_method(':setIcon', icon)

field_friend/localization/gnss_simulation.py

@@ -32,10 +32,6 @@ async def _create_new_record(self) -> GNSSRecord | None:
         await rosys.sleep(0.1)  # NOTE simulation does not be so fast and only eats a lot of cpu time
         return record
 
-    def relocate(self, position: GeoPoint) -> None:
-        localization.reference = position
-        self.wheels.pose = Pose(x=position.lat, y=position.long, yaw=0.0, time=rosys.time())
-
     def disconnect(self):
         """Simulate serial disconnection.