[hironx_ros_bridge] Simplify CollisionDetector disabling specific to …

…HIRONX
start-jsk · Nov 24, 2019 · 432b9d3 · 432b9d3
1 parent 2d163fd
commit 432b9d3
Showing 1 changed file with 9 additions and 11 deletions.
diff --git a/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py b/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
@@ -474,20 +474,18 @@ def getRTCList(self):
 
         # Specific code to current HIRONX status:
         ## CollisionDetector.enable is not set in normal conf, but we must remove CollisionDetector
-        if self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0:
+        co_rtc = ['co', "CollisionDetector"]
+        if co_rtc not in rtclist:
+            pass
+        elif self.ms and self.ms.ref and len(self.ms.ref.get_component_profiles()) > 0:
             try:
-                enable = next(p for p
-                              in self.ms.ref.get_component_profiles()[0].properties
-                              if p.name == 'CollisionDetector.enable').value.value()
+                next(p for p
+                     in self.ms.ref.get_component_profiles()[0].properties
+                     if p.name == (co_rtc[1] + '.enable')).value.value()
             except StopIteration:
-                enable = 'NO'
-            if enable == 'NO':
-                try:
-                    rtclist.remove(['co', "CollisionDetector"])
-                except ValueError:  # list.remove(x): x not in list
-                    pass
+                rtclist.remove(co_rtc)
         else:
-            rtclist.remove(['co', "CollisionDetector"])
+            rtclist.remove(co_rtc)
 
         if hasattr(self, 'rmfo'):
             self.ms.load("RemoveForceSensorLinkOffset")