Revert changes on controller manager to humble.

ros-controls · Dec 27, 2023 · fca604d · fca604d
1 parent 9140de7
commit fca604d
Showing 1 changed file with 11 additions and 26 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -362,42 +362,27 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   using lifecycle_msgs::msg::State;
 
   std::vector<std::string> configure_components_on_start = std::vector<std::string>({});
-  if (get_parameter("configure_components_on_start", configure_components_on_start))
+  get_parameter("configure_components_on_start", configure_components_on_start);
+  rclcpp_lifecycle::State inactive_state(
+    State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE);
+  for (const auto & component : configure_components_on_start)
   {
-    RCLCPP_WARN_STREAM(
-      get_logger(),
-      "[Deprecated]: Usage of parameter \"activate_components_on_start\" is deprecated. Use "
-      "hardware_spawner instead.");
-    rclcpp_lifecycle::State inactive_state(
-      State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE);
-    for (const auto & component : configure_components_on_start)
-    {
-      resource_manager_->set_component_state(component, inactive_state);
-    }
+    resource_manager_->set_component_state(component, inactive_state);
   }
 
   std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
-  if (get_parameter("activate_components_on_start", activate_components_on_start))
+  get_parameter("activate_components_on_start", activate_components_on_start);
+  rclcpp_lifecycle::State active_state(
+    State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
+  for (const auto & component : activate_components_on_start)
   {
-    RCLCPP_WARN_STREAM(
-      get_logger(),
-      "[Deprecated]: Usage of parameter \"activate_components_on_start\" is deprecated. Use "
-      "hardware_spawner instead.");
-    rclcpp_lifecycle::State active_state(
-      State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
-    for (const auto & component : activate_components_on_start)
-    {
-      resource_manager_->set_component_state(component, active_state);
-    }
+    resource_manager_->set_component_state(component, active_state);
   }
+
   // if both parameter are empty or non-existing preserve behavior where all components are
   // activated per default
   if (configure_components_on_start.empty() && activate_components_on_start.empty())
   {
-    RCLCPP_WARN_STREAM(
-      get_logger(),
-      "[Deprecated]: Automatic activation of all hardware components will not be supported in the "
-      "future anymore. Use hardware_spawner instead.");
     resource_manager_->activate_all_components();
   }
 }