Merge branch 'humble' into mergify/bp/humble/pr-1479

ros-controls · Jan 10, 2025 · cd96fe3 · cd96fe3
2 parents 7acf875 + bbb2ff5
commit cd96fe3
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diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -86,10 +86,6 @@ class DiffDriveController : public controller_interface::ControllerInterface
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  DIFF_DRIVE_CONTROLLER_PUBLIC
-  controller_interface::CallbackReturn on_shutdown(
-    const rclcpp_lifecycle::State & previous_state) override;
-
 protected:
   struct WheelHandle
   {

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -542,12 +542,6 @@ bool DiffDriveController::reset()
   return true;
 }
 
-controller_interface::CallbackReturn DiffDriveController::on_shutdown(
-  const rclcpp_lifecycle::State &)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 void DiffDriveController::halt()
 {
   const auto halt_wheels = [](auto & wheel_handles)

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -96,10 +96,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  JOINT_TRAJECTORY_CONTROLLER_PUBLIC
-  controller_interface::CallbackReturn on_shutdown(
-    const rclcpp_lifecycle::State & previous_state) override;
-
 protected:
   // To reduce number of variables and to make the code shorter the interfaces are ordered in types
   // as the following constants

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1126,14 +1126,6 @@ bool JointTrajectoryController::reset()
   return true;
 }
 
-controller_interface::CallbackReturn JointTrajectoryController::on_shutdown(
-  const rclcpp_lifecycle::State &)
-{
-  // TODO(karsten1987): what to do?
-
-  return CallbackReturn::SUCCESS;
-}
-
 void JointTrajectoryController::publish_state(
   const JointTrajectoryPoint & desired_state, const JointTrajectoryPoint & current_state,
   const JointTrajectoryPoint & state_error)

diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
@@ -86,9 +86,6 @@ class TricycleController : public controller_interface::ControllerInterface
   TRICYCLE_CONTROLLER_PUBLIC
   CallbackReturn on_error(const rclcpp_lifecycle::State & previous_state) override;
 
-  TRICYCLE_CONTROLLER_PUBLIC
-  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & previous_state) override;
-
 protected:
   struct TractionHandle
   {

diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
@@ -531,11 +531,6 @@ bool TricycleController::reset()
   return true;
 }
 
-CallbackReturn TricycleController::on_shutdown(const rclcpp_lifecycle::State &)
-{
-  return CallbackReturn::SUCCESS;
-}
-
 void TricycleController::halt()
 {
   traction_joint_[0].velocity_command.get().set_value(0.0);