From 5e48aa9e987719845c30ebf3520205d9498992f4 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Sun, 12 May 2024 21:36:06 +0200
Subject: [PATCH] Cleanup unused helper method

---
 controller_manager/src/controller_manager.cpp | 53 -------------------
 1 file changed, 53 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index f4de720bca..abe85b3f43 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -133,59 +133,6 @@ bool is_interface_a_chained_interface(
   return true;
 }
 
-bool is_interface_exported_from_controller(
-  const std::string & interface_name, const std::string & controller_name)
-{
-  auto split_pos = interface_name.find_first_of('/');
-  if (split_pos == std::string::npos)  // '/' exist in the string (should be always false)
-  {
-    RCLCPP_FATAL(
-      rclcpp::get_logger("ControllerManager::utils"),
-      "Character '/', was not find in the interface name '%s'. This should never happen. "
-      "Stop the controller manager immediately and restart it.",
-      interface_name.c_str());
-    throw std::runtime_error("Mismatched interface name. See the FATAL message above.");
-  }
-
-  auto interface_prefix = interface_name.substr(0, split_pos);
-  if (controller_name.compare(interface_prefix) == 0)
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
-}
-
-bool is_controller_exported_state_interfaces_inuse_by_other_controllers(
-  const std::string & controller_name,
-  const std::vector<controller_manager::ControllerSpec> & controllers,
-  std::vector<std::string> blacklist)
-{
-  for (const auto & controller : controllers)
-  {
-    auto blacklist_it = std::find(blacklist.begin(), blacklist.end(), controller.info.name);
-    if (blacklist_it != blacklist.end() || controller_name.compare(controller.info.name) == 0)
-    {
-      continue;
-    }
-    if (!is_controller_active(controller.c))
-    {
-      continue;
-    }
-    auto controller_exported_state_interfaces = controller.c->state_interface_configuration().names;
-    for (const auto & ctrl_itf_name : controller_exported_state_interfaces)
-    {
-      if (is_interface_exported_from_controller(ctrl_itf_name, controller_name))
-      {
-        return true;
-      }
-    }
-  }
-  return false;
-}
-
 template <typename T>
 void add_element_to_list(std::vector<T> & list, const T & element)
 {