Merge branch 'main' into SW-949-add-mission-client-in-spot-wrapper

Author: tcappellari-bdai

spot_wrapper/spot_mission_wrapper.py

@@ -55,7 +55,6 @@
 from bosdyn.client.time_sync import TimeSyncEndpoint
 from bosdyn.client.world_object import WorldObjectClient
 from bosdyn.geometry import EulerZXY
-from bosdyn.mission.client import MissionClient
 from google.protobuf.timestamp_pb2 import Timestamp
 
 from .spot_arm import SpotArm
@@ -65,7 +64,6 @@
 from .spot_eap import SpotEAP
 from .spot_graph_nav import SpotGraphNav
 from .spot_images import SpotImages
-from .spot_mission_wrapper import SpotMission
 from .spot_world_objects import SpotWorldObjects
 from .wrapper_helpers import ClaimAndPowerDecorator, RobotCommandData, RobotState
 
@@ -394,9 +392,7 @@ def __init__(
         self._command_data = RobotCommandData()
 
         try:
-            self._sdk = create_standard_sdk(
-                SPOT_CLIENT_NAME, service_clients=[MissionClient], cert_resource_glob=cert_resource_glob
-            )
+            self._sdk = create_standard_sdk(SPOT_CLIENT_NAME, cert_resource_glob=cert_resource_glob)
         except Exception as e:
             self._logger.error("Error creating SDK object: %s", e)
             self._valid = False
@@ -441,7 +437,6 @@ def __init__(
                 self._estop_client = self._robot.ensure_client(EstopClient.default_service_name)
                 self._docking_client = self._robot.ensure_client(DockingClient.default_service_name)
                 self._spot_check_client = self._robot.ensure_client(SpotCheckClient.default_service_name)
-                self._mission_client = self._robot.ensure_client(MissionClient.default_service_name)
                 self._license_client = self._robot.ensure_client(LicenseClient.default_service_name)
                 if self._robot.has_arm():
                     self._gripper_cam_param_client = self._robot.ensure_client(
@@ -526,15 +521,6 @@ def __init__(
             self._lease_client,
         )
 
-        self._spot_mission = SpotMission(
-            self._robot,
-            self._logger,
-            self._state,
-            self._mission_client,
-            self._robot_command_client,
-            self._lease_client,
-        )
-
         if self._robot.has_arm():
             self._spot_arm = SpotArm(
                 self._robot,
@@ -740,11 +726,6 @@ def spot_check(self) -> SpotCheck:
         """Return SpotCheck instance"""
         return self._spot_check
 
-    @property
-    def spot_mission(self) -> SpotMission:
-        """Return SpotMission instance"""
-        return self._spot_mission
-
     @property
     def spot_eap_lidar(self) -> typing.Optional[SpotEAP]:
         """Return SpotEAP instance"""