This should now be all that is needed.

App/RobobinApp/Networking/WifiManager.cs

@@ -227,7 +227,7 @@ namespace RobobinApp.Networking
                 Debug.WriteLine("Connected to Robobin via TCP.");
                 _isConnected = true;
 
-                await SendMessageAsync("REQMAP");
+                //await SendMessageAsync("REQMAP");
                 Task.Run(() => ReceiveMessages());
 
   

App/RobobinApp/ViewModels/MainPageViewModel.cs

@@ -98,7 +98,7 @@ namespace RobobinApp.ViewModels
 
         private async Task GetNewGraph()
         {
-            await App.WifiManager.SendMessageAsync("REQMAP");
+            return;
         }
 
         public static (float magnitude, float angle)[,] CalculatePolarConnections(List<Node> nodes, bool[,] connections)

ros2/src/robobin/launch/robobin_no_components_launch.py

@@ -14,13 +14,6 @@ def generate_launch_description():
 
         ),
 
-        Node(
-            package='robobin',
-            executable='uwb_navigation_node',    
-            name='uwb_navigation_node',
-            output='screen',
-            emulate_tty=True
-        ),
         Node(
             package='robobin',
             executable='motor_control_node',    

ros2/src/robobin/robobin/api_node.py

@@ -51,46 +51,14 @@ class ApiNode(Node):
         if self.mode == "Call": 
             if len(self.called_locations) > 0:
                 self.get_logger().info("Handling queue operations...")
-                start_node = self.getNearestNode(self.connection_manager.location)
                 client_socket, end_location = self.called_locations[0]
-                self.get_logger().info(f"(Start Node: {start_node}, End Location: {end_location})")
+                self.get_logger().info(f" End Location: {end_location})")
                 # self.get_logger().info(f"Sending location: {end_location}")
 
-                self.publisher_topics["nav_command"].publish(String(data="CALL " + start_node + " " + end_location))
                
 
-    def getNearestNode(self, location): 
-        """
-        Return the name of the node nearest to the given (x, y) location.
-        """
-        workspace_root = os.getcwd()  # Current working directory
-        self.get_logger().info(f"Workspace root: {workspace_root}")
-        graph_file_path = os.path.abspath(os.path.join(workspace_root, "src", "robobin", "robobin", "graphs", "graph.json"))
-        self.get_logger().info(f"Graph file path: {graph_file_path}")
-        if not os.path.exists(graph_file_path):
-            self.get_logger().error(f"Graph file not found at: {graph_file_path}")
-            return None
                 
-        x_loc, y_loc = location
-        try:
-            with open(graph_file_path, 'r') as f:
-                graph_data = json.load(f)
-
-            closest_node_name = None
-            closest_distance = float('inf')
     
-            for node in graph_data["nodes"]:
-                x_node = node["x"]
-                y_node = node["y"]
-                dist = math.sqrt((x_node - x_loc)**2 + (y_node - y_loc)**2)
-                if dist < closest_distance:
-                    closest_distance = dist
-                    closest_node_name = node["name"]
-
-            return closest_node_name
-        except Exception as e:
-            self.get_logger().error(f"Failed to determine nearest node: {str(e)}")
-            return None
     def handle_client_connection(self, client_socket):
         """Handles incoming TCP client connections."""
         try:

ros2/src/robobin/robobin/helpers/connection_manager.py

@@ -69,8 +69,8 @@ class ConnectionManager:
 
                 # Send the JSON message over UDP
                 sock.sendto(json_message, (self.UDP_IP, self.UDP_PORT))
-                self.api_node.get_logger().info("Broadcasting JSON presence.")
-                self.api_node.get_logger().info(f"Location: {self.location}, Mode: {mode}")
+                # self.api_node.get_logger().info("Broadcasting JSON presence.")
+                # self.api_node.get_logger().info(f"Location: {self.location}, Mode: {mode}")
                 time.sleep(0.5)
             except OSError:
                 break