Feature: Remove the deprecated jog and request ports
User Story
As someone maintaining this node,
I want only the standard ports published,
so that there is one output contract rather than two saying the same thing.
Requirements
Delete the jog and request outputs, mapping.scale, LEGACY_REQUEST and _freedrive's second call.
_send_motion publishes only twist; _act publishes only command.
Move move_to and get_state somewhere before deleting request — they are the two
things with no standard equivalent. get_state is a telemetry poll and may simply go if
the arm's own telemetry carries what the console needs by then; move_to is a pose goal
in the robot's units and needs a standard of its own, or it belongs to whatever sends it.
Drop the output_types: block from dataflow-robot.yml if the arm node's manifest can
be read by then.
Bump the major version. This one genuinely breaks consumers.
Acceptance Criteria
dora-node.yml lists twist, command and ui_state only
No LEGACY_REQUEST table remains in main.py
dataflow-robot.yml drives the arm through twist and command alone
get_state and move_to are either re-homed or deliberately dropped, with the
reasoning written down
Tests still cover every verb and the four deadman layers
Notes
Blocked on liria/dora-ulite6#3. The deprecated ports exist only so the two
repositories can move independently; removing them before the arm node accepts the
standard ones would leave nothing able to drive it.
Contract: resources/robotics/teleop-contract.md in the vault.
The deletion should be small — it was written to be deletable. LEGACY_REQUEST is the only
place that knows what dora-ulite6 calls a verb.
# Feature: Remove the deprecated `jog` and `request` ports
## User Story
As someone maintaining this node,
I want only the standard ports published,
so that there is one output contract rather than two saying the same thing.
## Requirements
- Delete the `jog` and `request` outputs, `mapping.scale`, `LEGACY_REQUEST` and
`_freedrive`'s second call.
- `_send_motion` publishes only `twist`; `_act` publishes only `command`.
- Move `move_to` and `get_state` somewhere before deleting `request` — they are the two
things with no standard equivalent. `get_state` is a telemetry poll and may simply go if
the arm's own telemetry carries what the console needs by then; `move_to` is a pose goal
in the robot's units and needs a standard of its own, or it belongs to whatever sends it.
- Drop the `output_types:` block from `dataflow-robot.yml` if the arm node's manifest can
be read by then.
- Bump the major version. This one genuinely breaks consumers.
## Acceptance Criteria
- [ ] `dora-node.yml` lists `twist`, `command` and `ui_state` only
- [ ] No `LEGACY_REQUEST` table remains in `main.py`
- [ ] `dataflow-robot.yml` drives the arm through `twist` and `command` alone
- [ ] `get_state` and `move_to` are either re-homed or deliberately dropped, with the
reasoning written down
- [ ] Tests still cover every verb and the four deadman layers
## Notes
**Blocked on liria/dora-ulite6#3.** The deprecated ports exist only so the two
repositories can move independently; removing them before the arm node accepts the
standard ones would leave nothing able to drive it.
Contract: `resources/robotics/teleop-contract.md` in the vault.
The deletion should be small — it was written to be deletable. `LEGACY_REQUEST` is the only
place that knows what `dora-ulite6` calls a verb.
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Feature: Remove the deprecated
jogandrequestportsUser Story
As someone maintaining this node,
I want only the standard ports published,
so that there is one output contract rather than two saying the same thing.
Requirements
jogandrequestoutputs,mapping.scale,LEGACY_REQUESTand_freedrive's second call._send_motionpublishes onlytwist;_actpublishes onlycommand.move_toandget_statesomewhere before deletingrequest— they are the twothings with no standard equivalent.
get_stateis a telemetry poll and may simply go ifthe arm's own telemetry carries what the console needs by then;
move_tois a pose goalin the robot's units and needs a standard of its own, or it belongs to whatever sends it.
output_types:block fromdataflow-robot.ymlif the arm node's manifest canbe read by then.
Acceptance Criteria
dora-node.ymlliststwist,commandandui_stateonlyLEGACY_REQUESTtable remains inmain.pydataflow-robot.ymldrives the arm throughtwistandcommandaloneget_stateandmove_toare either re-homed or deliberately dropped, with thereasoning written down
Notes
Blocked on liria/dora-ulite6#3. The deprecated ports exist only so the two
repositories can move independently; removing them before the arm node accepts the
standard ones would leave nothing able to drive it.
Contract:
resources/robotics/teleop-contract.mdin the vault.The deletion should be small — it was written to be deletable.
LEGACY_REQUESTis the onlyplace that knows what
dora-ulite6calls a verb.