Remove excess debugging logs

Author: amalnanavati

ada_feeding/ada_feeding/idioms/servo_until.py

@@ -27,7 +27,6 @@
 import py_trees
 from py_trees.behaviours import UnsetBlackboardVariable
 from py_trees.blackboard import Blackboard
-import rclpy  # TODO: remove!
 from rclpy.duration import Duration
 from rclpy.time import Time
 import ros2_numpy
@@ -151,17 +150,6 @@ def pose_within_tolerances(
         target_pose.pose.position
     ) - ros2_numpy.numpify(current_pose.pose.position)
 
-    # TODO: remove!
-    rclpy.logging.get_logger("pose_within_tolerances").info(
-        f"linear_displacement: {linear_displacement}"
-    )
-    rclpy.logging.get_logger("pose_within_tolerances").info(
-        f"target_pose: {ros2_numpy.numpify(target_pose.pose.position)}"
-    )
-    rclpy.logging.get_logger("pose_within_tolerances").info(
-        f"current_pose: {ros2_numpy.numpify(current_pose.pose.position)}"
-    )
-
     linear_distance = np.linalg.norm(linear_displacement)
     if linear_distance > tolerance_position:
         return False
@@ -201,8 +189,7 @@ def servo_until_pose(
     ignore_orientation: bool = False,
     subscribe_to_servo_status: bool = True,
     pub_topic: str = "~/servo_twist_cmds",
-    # TODO: change default to False!
-    viz: bool = True,
+    viz: bool = False,
 ) -> py_trees.behaviour.Behaviour:
     """
     Servos until the end_effector_frame reaches within the specified tolerances

ada_planning_scene/config/ada_planning_scene.yaml

@@ -151,12 +151,6 @@ ada_planning_scene:
       disable_workspace_wall_y_max: True # Remove the back wall, to be able to see in in RVIZ
     bedside:
       disable_workspace_wall_y_min: True # Remove the back wall, to be able to see in in RVIZ
-      # TODO: remove!
-      disable_workspace_wall_y_max: True # Remove the back wall, to be able to see in in RVIZ
-      disable_workspace_wall_x_min: True # Remove the back wall, to be able to see in in RVIZ
-      disable_workspace_wall_x_max: True # Remove the back wall, to be able to see in in RVIZ
-      disable_workspace_wall_z_min: True # Remove the back wall, to be able to see in in RVIZ
-      disable_workspace_wall_z_max: True # Remove the back wall, to be able to see in in RVIZ
 
     # Whether the workspace walls should contain the robot's current configuration
     # at time of recomputation.
@@ -166,7 +160,12 @@ ada_planning_scene:
     # from it, to get the robot URDF
     get_urdf_parameter_service_name: "/move_group/get_parameters"
     urdf_parameter_name: "robot_description"
-
+      # TODO: remove!
+      disable_workspace_wall_y_max: True # Remove the back wall, to be able to see in in RVIZ
+      disable_workspace_wall_x_min: True # Remove the back wall, to be able to see in in RVIZ
+      disable_workspace_wall_x_max: True # Remove the back wall, to be able to see in in RVIZ
+      disable_workspace_wall_z_min: True # Remove the back wall, to be able to see in in RVIZ
+      disable_workspace_wall_z_max: True # Remove the back wall, to be able to see in in RVIZ
     # The service that needs to be called, and parameters that need to be requested,
     # to get the robot joint positions that must be in the workspace walls. Note that
     # the parameter name is made by first getting the parameter value from the