remove unnecessary parts

ros-controls · Sep 24, 2024 · 57c4f56 · 57c4f56
1 parent cabe347
commit 57c4f56
Showing 1 changed file with 0 additions and 29 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2197,8 +2197,6 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration &
     std::vector<std::string> stop_request = {};
     std::string failed_hardware_string;
     failed_hardware_string.reserve(500);
-    std::vector<std::string> failed_controller_interfaces;
-    failed_controller_interfaces.reserve(500);
     // Determine controllers to stop
     for (const auto & hardware_name : failed_hardware_names)
     {
@@ -2223,21 +2221,8 @@ void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration &
       "Deactivating following controllers as their hardware components read cycle resulted in an "
       "error: [ %s]",
       stop_request_string.c_str());
-
     std::vector<ControllerSpec> & rt_controller_list =
       rt_controllers_wrapper_.update_and_get_used_by_rt_list();
-    get_controller_list_command_interfaces(
-      stop_request, rt_controller_list, *resource_manager_, failed_controller_interfaces);
-    if (!failed_controller_interfaces.empty())
-    {
-      if (!(resource_manager_->prepare_command_mode_switch({}, failed_controller_interfaces) &&
-            resource_manager_->perform_command_mode_switch({}, failed_controller_interfaces)))
-      {
-        RCLCPP_ERROR(
-          get_logger(),
-          "Error while attempting mode switch when deactivating controllers in read cycle!");
-      }
-    }
     deactivate_controllers(rt_controller_list, stop_request);
     // TODO(destogl): do auto-start of broadcasters
   }
@@ -2408,8 +2393,6 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
     std::vector<std::string> stop_request = {};
     std::string failed_hardware_string;
     failed_hardware_string.reserve(500);
-    std::vector<std::string> failed_controller_interfaces;
-    failed_controller_interfaces.reserve(500);
     // Determine controllers to stop
     for (const auto & hardware_name : failed_hardware_names)
     {
@@ -2437,18 +2420,6 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
       stop_request_string.c_str());
     std::vector<ControllerSpec> & rt_controller_list =
       rt_controllers_wrapper_.update_and_get_used_by_rt_list();
-    get_controller_list_command_interfaces(
-      stop_request, rt_controller_list, *resource_manager_, failed_controller_interfaces);
-    if (!failed_controller_interfaces.empty())
-    {
-      if (!(resource_manager_->prepare_command_mode_switch({}, failed_controller_interfaces) &&
-            resource_manager_->perform_command_mode_switch({}, failed_controller_interfaces)))
-      {
-        RCLCPP_ERROR(
-          get_logger(),
-          "Error while attempting mode switch when deactivating controllers in write cycle!");
-      }
-    }
     deactivate_controllers(rt_controller_list, stop_request);
     // TODO(destogl): do auto-start of broadcasters
   }