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Remove empty on_shutdown() callbacks #1477

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merged 1 commit into from
Jan 9, 2025
Merged

Remove empty on_shutdown() callbacks #1477

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3 changes: 0 additions & 3 deletions diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,9 +72,6 @@ class DiffDriveController : public controller_interface::ControllerInterface
controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State & previous_state) override;

controller_interface::CallbackReturn on_shutdown(
const rclcpp_lifecycle::State & previous_state) override;

protected:
struct WheelHandle
{
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6 changes: 0 additions & 6 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -578,12 +578,6 @@ 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)
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3 changes: 0 additions & 3 deletions ...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
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Expand Up @@ -84,9 +84,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
controller_interface::CallbackReturn on_error(
const rclcpp_lifecycle::State & previous_state) override;

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
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8 changes: 0 additions & 8 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1077,14 +1077,6 @@ 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 rclcpp::Time & time, const JointTrajectoryPoint & desired_state,
const JointTrajectoryPoint & current_state, const JointTrajectoryPoint & state_error)
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2 changes: 0 additions & 2 deletions tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,8 +76,6 @@ class TricycleController : public controller_interface::ControllerInterface

CallbackReturn on_error(const rclcpp_lifecycle::State & previous_state) override;

CallbackReturn on_shutdown(const rclcpp_lifecycle::State & previous_state) override;

protected:
struct TractionHandle
{
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5 changes: 0 additions & 5 deletions tricycle_controller/src/tricycle_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -440,11 +440,6 @@ 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);
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