diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py index 669debad0..308b77d4b 100644 --- a/spot_driver/spot_driver/spot_ros2.py +++ b/spot_driver/spot_driver/spot_ros2.py @@ -428,14 +428,9 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw self.get_logger().error(error_msg) raise ValueError(error_msg) - all_cameras = ["frontleft", "frontright", "left", "right", "back"] has_arm = self.mock_has_arm if self.spot_wrapper is not None: has_arm = self.spot_wrapper.has_arm() - if has_arm and not self.gripperless: - all_cameras.append("hand") - self.declare_parameter("cameras_used", all_cameras) - self.cameras_used = self.get_parameter("cameras_used") if self.publish_graph_nav_pose.value: # graph nav pose will be published both on a topic @@ -866,7 +861,7 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw self.handle_graph_nav_set_localization, callback_group=self.group, ) - if has_arm and self.gripperless: + if has_arm and not self.gripperless: self.create_service( GetGripperCameraParameters, "get_gripper_camera_parameters",