From 22312693024046433389ea88d4d06386bfcd6baa Mon Sep 17 00:00:00 2001
From: wingdeans <66850754+wingdeans@users.noreply.github.com>
Date: Fri, 21 Aug 2026 09:29:56 -0400
Subject: [PATCH] remove tcp-forwarded vectornav

---
 .gitmodules                                   |  3 --
 cyclone.xml                                   |  8 -----
 joe_shmore.py                                 | 31 -------------------
 scripts/setup.bash                            |  1 -
 src/subjugator/drivers/vectornav              |  1 -
 src/subjugator/drivers/waterlinked_dvl        |  2 +-
 .../subjugator_bringup/launch/sub9.launch.py  | 18 -----------
 7 files changed, 1 insertion(+), 63 deletions(-)
 delete mode 100644 cyclone.xml
 delete mode 100644 joe_shmore.py
 delete mode 160000 src/subjugator/drivers/vectornav

diff --git a/.gitmodules b/.gitmodules
index 82e015afd..a42d8aeae 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "src/subjugator/drivers/vectornav"]
-	path = src/subjugator/drivers/vectornav
-	url = https://github.com/uf-mil/vectornav.git
 [submodule "src/subjugator/drivers/waterlinked_dvl"]
 	path = src/subjugator/drivers/waterlinked_dvl
 	url = https://github.com/uf-mil/waterlinked_dvl.git
diff --git a/cyclone.xml b/cyclone.xml
deleted file mode 100644
index 42eb7245a..000000000
--- a/cyclone.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<CycloneDDS>
-    <Domain>
-        <Discovery>
-            <ParticipantIndex>auto</ParticipantIndex>
-            <MaxAutoParticipantIndex>50</MaxAutoParticipantIndex>
-        </Discovery>
-    </Domain>
-</CycloneDDS>
diff --git a/joe_shmore.py b/joe_shmore.py
deleted file mode 100644
index f44975c7d..000000000
--- a/joe_shmore.py
+++ /dev/null
@@ -1,31 +0,0 @@
-import subprocess
-import time
-
-import serial
-
-port = "/dev/ttyV0"
-target = "vectornav"
-baud = 921600
-
-
-def sub_online():
-    try:
-        result = subprocess.run(
-            ["lsof", port],
-            stdout=subprocess.PIPE,
-            stderr=subprocess.DEVNULL,
-            text=True,
-        )
-        return result.stdout
-    except Exception as e:
-        print(f"Error checking port: {e}")
-
-
-# Run every second
-while True:
-    if not sub_online():
-        with serial.Serial("/dev/ttyV0", baud, timeout=1) as ser:
-            ser.reset_input_buffer()
-            ser.reset_output_buffer()
-
-    time.sleep(0.5)
diff --git a/scripts/setup.bash b/scripts/setup.bash
index 07edfec79..db0d5cb01 100644
--- a/scripts/setup.bash
+++ b/scripts/setup.bash
@@ -27,7 +27,6 @@ alias search_root='sudo find / ... | grep -i'
 alias search='find . -print | grep -i'
 alias fd="fdfind"
 
-alias imu-socat="sudo socat PTY,link=/dev/ttyV0,mode=777 TCP:192.168.37.61:10001"
 alias sonar-socat="sdgps connect-sonar-raw-tcp 192.168.37.61 2006 ! filter-sonar-raw-samples --highpass 15e3 --lowpass 45e3 --notch 40e3 ! extract-robosub-pings ! robosub-ping-solver ! listen-robosub-ping-solution-tcp 2007"
 alias kill="ros2 service call /kill std_srvs/srv/Empty && stop-controller"
 alias unkill="ros2 service call /unkill std_srvs/srv/Empty"
diff --git a/src/subjugator/drivers/vectornav b/src/subjugator/drivers/vectornav
deleted file mode 160000
index f14eca125..000000000
--- a/src/subjugator/drivers/vectornav
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit f14eca125724d380b0b024fd810666683bcde81c
diff --git a/src/subjugator/drivers/waterlinked_dvl b/src/subjugator/drivers/waterlinked_dvl
index 1b009c4ee..02fe8bd5f 160000
--- a/src/subjugator/drivers/waterlinked_dvl
+++ b/src/subjugator/drivers/waterlinked_dvl
@@ -1 +1 @@
-Subproject commit 1b009c4ee776cc0cd0734ddb3caa57a41850b502
+Subproject commit 02fe8bd5f9d8bb1dcd0935a56a27b787ae4c6fb7
diff --git a/src/subjugator/subjugator_bringup/launch/sub9.launch.py b/src/subjugator/subjugator_bringup/launch/sub9.launch.py
index 9fafa4984..7381e066c 100644
--- a/src/subjugator/subjugator_bringup/launch/sub9.launch.py
+++ b/src/subjugator/subjugator_bringup/launch/sub9.launch.py
@@ -42,22 +42,6 @@ def generate_launch_description():
         output="screen",
     )
 
-    # IMU
-    # vectornav_launch = IncludeLaunchDescription(
-    #     pkg_share("vectornav", "launch", "vectornav.launch.py"),
-    # )
-    # mag_comp_launch = IncludeLaunchDescription(
-    #     pkg_share("magnetic_compensation", "launch", "mag_comp.launch.py"),
-    #     launch_arguments={
-    #         "config_file": pkg_share(
-    #             "subjugator_bringup",
-    #             "config",
-    #             "sensors",
-    #             "hardsoft.yaml",
-    #         ),
-    #     }.items(),
-    # )
-
     thrust_launch = IncludeLaunchDescription(
         pkg_share("thrust_and_kill_board", "launch", "thrust_and_kill_board.launch.py"),
     )
@@ -95,8 +79,6 @@ def generate_launch_description():
             front_cam_launch,
             down_cam_launch,
             servo_driver,
-            # vectornav_launch,
-            # mag_comp_launch,
             thrust_launch,
             subjugator_setup,
         ],