From 0ff842df305517ed2b82d342c899c2bc296806f1 Mon Sep 17 00:00:00 2001
From: Wessel Tip <contact@wessel.gg>
Date: Fri, 28 Nov 2025 20:14:33 +0100
Subject: [PATCH] chore: Remove copy-pasted nodes

---
 .../nodes/wheel_data_simulator.cpp            | 58 -------------------
 .../nodes/wheel_data_simulator.hpp            | 33 -----------
 2 files changed, 91 deletions(-)
 delete mode 100644 src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
 delete mode 100644 src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp

diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
deleted file mode 100644
index 1176a0d..0000000
--- a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "wheel_data_simulator.hpp"
-
-namespace assignments::three::wheel_data_simulator_node {
-
-DataSimulator::DataSimulator() : Node("wheel_data_simulator") {
-    RCLCPP_INFO(this->get_logger(), "DataSimulator node created");
-
-    start_time_ = this->now();
-
-    this->declare_parameter("publish_rate", 10.0);
-    double rate = this->get_parameter("publish_rate").as_double();
-
-    wheels_ = { "wheel_fl", "wheel_fr", "wheel_rl", "wheel_rr" };
-
-    // Simulator loads parameters itself
-    simulator_ = std::make_unique<Simulator>(this, wheels_);
-
-    wheel_publisher_ = this->create_publisher<std_msgs::msg::Float64MultiArray>("simulated_wheel_data", 10);
-    RCLCPP_INFO(this->get_logger(), "Created wheel Publisher on topic 'simulated_wheel_data'");
-
-    // Use publish_rate parameter
-    int timer_ms = static_cast<int>(1000.0 / rate);
-    RCLCPP_INFO(this->get_logger(), "Publishing at %.1f Hz (every %d ms)", rate, timer_ms);
-
-    timer_ = this->create_wall_timer(
-        std::chrono::milliseconds(timer_ms),
-        std::bind(&DataSimulator::publish_wheel_data, this)
-    );
-}
-
-DataSimulator::~DataSimulator() {
-    RCLCPP_INFO(this->get_logger(), "DataSimulator node destroyed");
-}
-
-void DataSimulator::publish_wheel_data() {
-    auto wheel_msg = std::make_shared<std_msgs::msg::Float64MultiArray>();
-
-    // Calculate elapsed time since node start
-    double elapsed_time = (this->now() - start_time_).seconds();
-
-    // For now, just log wheel values (adjust based on your actual message type)
-    wheel_msg->data = {
-        simulator_->get_object_value("wheel_fl", elapsed_time),
-        simulator_->get_object_value("wheel_fr", elapsed_time),
-        simulator_->get_object_value("wheel_rl", elapsed_time),
-        simulator_->get_object_value("wheel_rr", elapsed_time)
-    };
-
-    RCLCPP_INFO(this->get_logger(),
-        "t=%.2fs - Wheel Data [%.3f, %.3f, %.3f, %.3f]",
-        elapsed_time,
-        wheel_msg->data[0], wheel_msg->data[1], wheel_msg->data[2], wheel_msg->data[3]
-    );
-
-    wheel_publisher_->publish(*wheel_msg);
-}
-
-} // namespace assignments::three::wheel_data_simulator_node
diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp b/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp
deleted file mode 100644
index b3f0012..0000000
--- a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/float64_multi_array.hpp"
-#include "simulator/Simulator.hpp"
-#include <vector>
-#include <string>
-#include <map>
-#include <memory>
-
-namespace assignments::three::wheel_data_simulator_node {
-
-using assignments::three::Simulator;
-using assignments::three::IntervalConfig;
-using assignments::three::SimType;
-
-class DataSimulator : public rclcpp::Node {
-public:
-    DataSimulator();
-    ~DataSimulator();
-private:
-    rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr wheel_publisher_;
-    rclcpp::TimerBase::SharedPtr timer_;
-    rclcpp::Time start_time_;
-
-    std::vector<std::string> wheels_;
-    std::unique_ptr<Simulator> simulator_;
-
-    void publish_wheel_data();
-
-};
-
-} // namespace assignments::three::wheel_data_simulator_node