remove T265 leftovers

IntelRealSense · Jan 31, 2023 · 80d9bb7 · 80d9bb7
1 parent 55f1d19
commit 80d9bb7
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diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py
@@ -26,7 +26,6 @@
                            {'name': 'enable_infra1',                'default': 'false', 'description': 'enable infra1 stream'},
                            {'name': 'enable_infra2',                'default': 'false', 'description': 'enable infra2 stream'},
                            {'name': 'infra_rgb',                    'default': 'false', 'description': 'enable infra2 stream'},
-                           {'name': 'tracking_module.profile',      'default': '0,0,0', 'description': 'fisheye width'},
                            {'name': 'enable_fisheye1',              'default': 'true', 'description': 'enable fisheye1 stream'},
                            {'name': 'enable_fisheye2',              'default': 'true', 'description': 'enable fisheye2 stream'},
                            {'name': 'enable_confidence',            'default': 'true', 'description': 'enable depth stream'},

diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp
@@ -174,12 +174,6 @@ void RealSenseNodeFactory::getDevice(rs2::device_list list)
         }
     }
 
-    bool remove_tm2_handle(_device && RS_T265_PID != std::stoi(_device.get_info(RS2_CAMERA_INFO_PRODUCT_ID), 0, 16));
-    if (remove_tm2_handle)
-    {
-        _ctx.unload_tracking_module();
-    }
-
     if (_device && _initial_reset)
     {
         _initial_reset = false;