remove one of the redundant checks with the new approach

controller_interface/src/chainable_controller_interface.cpp

@@ -48,18 +48,6 @@ std::vector<hardware_interface::StateInterface>
 ChainableControllerInterface::export_state_interfaces()
 {
  auto state_interfaces = on_export_state_interfaces();
- // check if the "state_interfaces_values_" variable is resized to number of interfaces
- if (state_interfaces_values_.size() != state_interfaces.size())
- {
- RCLCPP_FATAL(
- get_node()->get_logger(),
- "The internal storage for exported state values 'state_interfaces_values_' variable has size "
- "'%zu', but it is expected to have the size '%zu' equal to the number of exported state "
- "interfaces. No state interface will be exported. Please correct and recompile "
- "the controller with name '%s' and try again.",
- state_interfaces_values_.size(), state_interfaces.size(), get_node()->get_name());
- state_interfaces.clear();
- }
 
  // check if the names of the controller state interfaces begin with the controller's name
  for (const auto & interface : state_interfaces)
@@ -85,21 +73,6 @@ ChainableControllerInterface::export_reference_interfaces()
 {
  auto reference_interfaces = on_export_reference_interfaces();
 
- // check if the "reference_interfaces_" variable is resized to number of interfaces
- if (reference_interfaces_.size() != reference_interfaces.size())
- {
- // TODO(destogl): Should here be "FATAL"? It is fatal in terms of controller but not for the
- // framework
- RCLCPP_FATAL(
- get_node()->get_logger(),
- "The internal storage for reference values 'reference_interfaces_' variable has size '%zu', "
- "but it is expected to have the size '%zu' equal to the number of exported reference "
- "interfaces. No reference interface will be exported. Please correct and recompile "
- "the controller with name '%s' and try again.",
- reference_interfaces_.size(), reference_interfaces.size(), get_node()->get_name());
- reference_interfaces.clear();
- }
-
  // check if the names of the reference interfaces begin with the controller's name
  for (const auto & interface : reference_interfaces)
  {

controller_interface/test/test_chainable_controller_interface.cpp

@@ -74,27 +74,6 @@ TEST_F(ChainableControllerInterfaceTest, export_reference_interfaces)
  EXPECT_EQ(reference_interfaces[0].get_value(), INTERFACE_VALUE);
 }
 
-TEST_F(ChainableControllerInterfaceTest, interfaces_storage_not_correct_size)
-{
- TestableChainableControllerInterface controller;
-
- // initialize, create node
- const auto node_options = controller.define_custom_node_options();
- ASSERT_EQ(
- controller.init(TEST_CONTROLLER_NAME, "", 50.0, "", node_options),
- controller_interface::return_type::OK);
- ASSERT_NO_THROW(controller.get_node());
-
- // expect empty return because storage is not resized
- controller.reference_interfaces_.clear();
- auto reference_interfaces = controller.export_reference_interfaces();
- ASSERT_THAT(reference_interfaces, IsEmpty());
- // expect empty return because storage is not resized
- controller.state_interfaces_values_.clear();
- auto exported_state_interfaces = controller.export_state_interfaces();
- ASSERT_THAT(exported_state_interfaces, IsEmpty());
-}
-
 TEST_F(ChainableControllerInterfaceTest, interfaces_prefix_is_not_node_name)
 {
  TestableChainableControllerInterface controller;