Remove empty on_shutdown() callbacks (#1477)

(cherry picked from commit abf3172) # Conflicts: # diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp # joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp # tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
ros-controls · Jan 9, 2025 · 5c776df · 5c776df
1 parent 0e79d1e
commit 5c776df
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Showing 6 changed files with 9 additions and 19 deletions.
diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -86,10 +86,13 @@ class DiffDriveController : public controller_interface::ControllerInterface
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
+<<<<<<< HEAD
   DIFF_DRIVE_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_shutdown(
     const rclcpp_lifecycle::State & previous_state) override;
 
+=======
+>>>>>>> abf3172 ( Remove empty on_shutdown() callbacks (#1477))
 protected:
   struct WheelHandle
   {

diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -542,12 +542,6 @@ 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)

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -96,10 +96,13 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
+<<<<<<< HEAD
   JOINT_TRAJECTORY_CONTROLLER_PUBLIC
   controller_interface::CallbackReturn on_shutdown(
     const rclcpp_lifecycle::State & previous_state) override;
 
+=======
+>>>>>>> abf3172 ( Remove empty on_shutdown() callbacks (#1477))
 protected:
   // To reduce number of variables and to make the code shorter the interfaces are ordered in types
   // as the following constants

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1126,14 +1126,6 @@ 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 JointTrajectoryPoint & desired_state, const JointTrajectoryPoint & current_state,
   const JointTrajectoryPoint & state_error)

diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
@@ -86,9 +86,12 @@ class TricycleController : public controller_interface::ControllerInterface
   TRICYCLE_CONTROLLER_PUBLIC
   CallbackReturn on_error(const rclcpp_lifecycle::State & previous_state) override;
 
+<<<<<<< HEAD
   TRICYCLE_CONTROLLER_PUBLIC
   CallbackReturn on_shutdown(const rclcpp_lifecycle::State & previous_state) override;
 
+=======
+>>>>>>> abf3172 ( Remove empty on_shutdown() callbacks (#1477))
 protected:
   struct TractionHandle
   {

diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
@@ -531,11 +531,6 @@ 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);