Remove unused initial_pose

src/isar/apis/schedule/scheduling_controller.py

@@ -45,12 +45,6 @@ def start_mission_by_id(
             title="Mission ID",
             description="ID-number for predefined mission",
         ),
-        initial_pose: Optional[InputPose] = Body(
-            default=None,
-            description="The starting point of the mission. Used for initial "
-            "localization of robot",
-            embed=True,
-        ),
         return_pose: Optional[InputPose] = Body(
             default=None,
             description="End pose of the mission. The robot return to the specified "
@@ -72,15 +66,9 @@ def start_mission_by_id(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
 
-        initial_pose_alitra: Optional[Pose] = (
-            initial_pose.to_alitra_pose() if initial_pose else None
-        )
-
         self.logger.info(f"Starting mission with ISAR Mission ID: '{mission.id}'")
 
-        self.scheduling_utilities.start_mission(
-            mission=mission, initial_pose=initial_pose_alitra
-        )
+        self.scheduling_utilities.start_mission(mission=mission)
 
         return self._api_response(mission)
 
@@ -92,12 +80,6 @@ def start_mission(
             title="Mission Definition",
             description="Description of the mission in json format",
         ),
-        initial_pose: Optional[InputPose] = Body(
-            default=None,
-            description="The starting point of the mission. Used for initial "
-            "localization of robot",
-            embed=True,
-        ),
         return_pose: Optional[InputPose] = Body(
             default=None,
             description="End pose of the mission. The robot return to the specified "
@@ -135,14 +117,8 @@ def start_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
 
-        initial_pose_alitra: Optional[Pose] = (
-            initial_pose.to_alitra_pose() if initial_pose else None
-        )
-
         self.logger.info(f"Starting mission: {mission.id}")
-        self.scheduling_utilities.start_mission(
-            mission=mission, initial_pose=initial_pose_alitra
-        )
+        self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
     def pause_mission(self) -> ControlMissionResponse:
@@ -245,10 +221,7 @@ def start_move_arm_mission(
         self.logger.info(
             f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
         )
-        self.scheduling_utilities.start_mission(
-            mission=mission,
-            initial_pose=None,
-        )
+        self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
     def _api_response(self, mission: Mission) -> StartMissionResponse:

src/isar/models/communication/message.py

@@ -1,12 +1,8 @@
 from dataclasses import dataclass
-from typing import Optional
-
-from alitra import Pose
 
 from robot_interface.models.mission.mission import Mission
 
 
 @dataclass
 class StartMissionMessage:
     mission: Mission
-    initial_pose: Optional[Pose]

src/isar/services/utilities/scheduling_utilities.py

@@ -2,9 +2,8 @@
 from copy import deepcopy
 from http import HTTPStatus
 from queue import Empty
-from typing import Any, List, Optional, Set
+from typing import Any, List, Set
 
-from alitra import Pose
 from fastapi import HTTPException
 from injector import inject
 from requests import HTTPError
@@ -141,7 +140,6 @@ def verify_state_machine_ready_to_receive_mission(self, state: States) -> bool:
     def start_mission(
         self,
         mission: Mission,
-        initial_pose: Optional[Pose],
     ) -> None:
         """Start mission
 
@@ -152,10 +150,7 @@ def start_mission(
         """
         try:
             self._send_command(
-                StartMissionMessage(
-                    mission=deepcopy(mission),
-                    initial_pose=initial_pose,
-                ),
+                StartMissionMessage(mission=deepcopy(mission)),
                 self.queues.start_mission,
             )
         except QueueTimeoutError:

src/isar/state_machine/state_machine.py

@@ -5,7 +5,6 @@
 from datetime import datetime, timezone
 from typing import Deque, List, Optional
 
-from alitra import Pose
 from injector import inject
 from transitions import Machine
 from transitions.core import State
@@ -205,7 +204,6 @@ def __init__(
 
         self.current_mission: Optional[Mission] = None
         self.current_task: Optional[TASKS] = None
-        self.initial_pose: Optional[Pose] = None
 
         self.current_state: State = States(self.state)  # type: ignore
 
@@ -380,17 +378,15 @@ def reset_state_machine(self) -> None:
         self.logger.info("Resetting state machine")
         self.current_task = None
         self.current_mission = None
-        self.initial_pose = None
 
-    def start_mission(self, mission: Mission, initial_pose: Pose):
+    def start_mission(self, mission: Mission):
         """Starts a scheduled mission."""
         self.current_mission = mission
-        self.initial_pose = initial_pose
 
         self.task_selector.initialize(tasks=self.current_mission.tasks)
 
     def get_initialize_params(self):
-        return InitializeParams(initial_pose=self.initial_pose)
+        return InitializeParams()
 
     def should_start_mission(self) -> Optional[StartMissionMessage]:
         try:

src/isar/state_machine/states/idle.py

@@ -58,10 +58,7 @@ def _run(self) -> None:
                     self.state_machine.should_start_mission()
                 )
                 if start_mission:
-                    self.state_machine.start_mission(
-                        mission=start_mission.mission,
-                        initial_pose=start_mission.initial_pose,
-                    )
+                    self.state_machine.start_mission(mission=start_mission.mission)
                     transition = self.state_machine.mission_started  # type: ignore
                     break
                 time.sleep(self.state_machine.sleep_time)

tests/isar/state_machine/test_state_machine.py

@@ -95,7 +95,7 @@ def test_state_machine_transitions_when_running_full_mission(
     mission: Mission = Mission(name="Dummy misson", tasks=[task_1, task_2])
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
-    scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.21)  # Slightly more than the StateMachine sleep time
 
     assert state_machine_thread.state_machine.transitions_list == deque(
@@ -123,7 +123,7 @@ def test_state_machine_failed_dependency(
     state_machine_thread.start()
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
-    scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.21)  # Allow the state machine to transition through the mission
 
     assert state_machine_thread.state_machine.transitions_list == deque(
@@ -147,7 +147,7 @@ def test_state_machine_with_successful_collection(
     mission: Mission = Mission(name="Dummy misson", tasks=[MockTask.take_image()])
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
-    scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.11)  # Slightly more than the StateMachine sleep time
 
     expected_stored_items = 1
@@ -175,7 +175,7 @@ def test_state_machine_with_unsuccessful_collection(
     mission: Mission = Mission(name="Dummy misson", tasks=[MockTask.take_image()])
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
-    scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.11)  # Slightly more than the StateMachine sleep time
 
     expected_stored_items = 0
@@ -203,7 +203,7 @@ def test_state_machine_with_successful_mission_stop(
     mocker.patch.object(MockRobot, "task_status", return_value=TaskStatus.InProgress)
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
-    scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.11)  # Slightly more than the StateMachine sleep time
     scheduling_utilities.stop_mission()
 
@@ -235,7 +235,7 @@ def test_state_machine_with_unsuccessful_mission_stop(
 
     state_machine_thread.start()
 
-    scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    scheduling_utilities.start_mission(mission=mission)
     time.sleep(0.11)  # Slightly more than the StateMachine sleep time
     scheduling_utilities.stop_mission()