From ddfe67fc4552765f5c39bb782b2ef80cb4f39777 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 16 Jan 2019 20:44:07 +0300
Subject: [PATCH] Remove unused fcu_horiz nodelet

---
 clever/CMakeLists.txt    |  5 -----
 clever/src/fcu_horiz.cpp | 40 ----------------------------------------
 2 files changed, 45 deletions(-)
 delete mode 100644 clever/src/fcu_horiz.cpp

diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt
index 6ce7ec76..11119ac6 100644
--- a/clever/CMakeLists.txt
+++ b/clever/CMakeLists.txt
@@ -188,11 +188,6 @@ target_link_libraries(clever
   ${catkin_LIBRARIES}
 )
 
-target_link_libraries(fcu_horiz
-  ${catkin_LIBRARIES}
-  "/opt/ros/kinetic/lib/libtf2_ros.so"
-)
-
 target_link_libraries(aruco_vpe
   ${catkin_LIBRARIES}
 )
diff --git a/clever/src/fcu_horiz.cpp b/clever/src/fcu_horiz.cpp
deleted file mode 100644
index aa17c1e3..00000000
--- a/clever/src/fcu_horiz.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-#include <nodelet/nodelet.h>
-#include <pluginlib/class_list_macros.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/PoseStamped.h>
-
-#include "util.h"
-
-class FcuHoriz : public nodelet::Nodelet
-{
-    geometry_msgs::TransformStamped t_;
-
-    void handlePose(const geometry_msgs::PoseStampedConstPtr& msg)
-    {
-        static tf2_ros::TransformBroadcaster br;
-        double roll, pitch, yaw;
-
-        t_.header.stamp = msg->header.stamp;
-        t_.header.frame_id = msg->header.frame_id;
-        t_.transform.translation.x = msg->pose.position.x;
-        t_.transform.translation.y = msg->pose.position.y;
-        t_.transform.translation.z = msg->pose.position.z;
-
-        // Warning: this is not thead-safe
-        quaternionToEuler(msg->pose.orientation, roll, pitch, yaw);
-        eulerToQuaternion(t_.transform.rotation, 0, 0, yaw);
-
-        br.sendTransform(t_);
-    }
-
-    void onInit()
-    {
-        t_.child_frame_id = "fcu_horiz";
-        t_.transform.rotation.w = 1;
-        static ros::Subscriber pose_sub = getNodeHandle().subscribe("mavros/local_position/pose", 1, &FcuHoriz::handlePose, this);
-        ROS_INFO("fcu_horiz initialized");
-    }
-};
-
-PLUGINLIB_EXPORT_CLASS(FcuHoriz, nodelet::Nodelet)