From a04a926b70d4254d95f388d296448420b134c668 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sun, 19 Nov 2023 20:17:24 +0100
Subject: [PATCH] [JTC] Remove unused home pose (backport #845)

---
 .../joint_trajectory_controller.hpp           |  2 --
 .../src/joint_trajectory_controller.cpp       | 28 -------------------
 2 files changed, 30 deletions(-)

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index 3e9fed1fdd..b563450d7a 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -183,8 +183,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   rclcpp::Service<control_msgs::srv::QueryTrajectoryState>::SharedPtr query_state_srv_;
 
   std::shared_ptr<Trajectory> traj_external_point_ptr_ = nullptr;
-  std::shared_ptr<Trajectory> traj_home_point_ptr_ = nullptr;
-  std::shared_ptr<trajectory_msgs::msg::JointTrajectory> traj_msg_home_ptr_ = nullptr;
   realtime_tools::RealtimeBuffer<std::shared_ptr<trajectory_msgs::msg::JointTrajectory>>
     traj_msg_external_point_ptr_;
 
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 786c0bbaf6..df6c289a49 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -977,22 +977,7 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
     }
   }
 
-  // Store 'home' pose
-  traj_msg_home_ptr_ = std::make_shared<trajectory_msgs::msg::JointTrajectory>();
-  traj_msg_home_ptr_->header.stamp.sec = 0;
-  traj_msg_home_ptr_->header.stamp.nanosec = 0;
-  traj_msg_home_ptr_->points.resize(1);
-  traj_msg_home_ptr_->points[0].time_from_start.sec = 0;
-  traj_msg_home_ptr_->points[0].time_from_start.nanosec = 50000000;
-  traj_msg_home_ptr_->points[0].positions.resize(joint_state_interface_[0].size());
-  for (size_t index = 0; index < joint_state_interface_[0].size(); ++index)
-  {
-    traj_msg_home_ptr_->points[0].positions[index] =
-      joint_state_interface_[0][index].get().get_value();
-  }
-
   traj_external_point_ptr_ = std::make_shared<Trajectory>();
-  traj_home_point_ptr_ = std::make_shared<Trajectory>();
   traj_msg_external_point_ptr_.writeFromNonRT(
     std::shared_ptr<trajectory_msgs::msg::JointTrajectory>());
 
@@ -1085,8 +1070,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
   subscriber_is_active_ = false;
 
   traj_external_point_ptr_.reset();
-  traj_home_point_ptr_.reset();
-  traj_msg_home_ptr_.reset();
 
   return CallbackReturn::SUCCESS;
 }
@@ -1094,13 +1077,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
 controller_interface::CallbackReturn JointTrajectoryController::on_cleanup(
   const rclcpp_lifecycle::State &)
 {
-  // go home
-  if (traj_home_point_ptr_ != nullptr)
-  {
-    traj_home_point_ptr_->update(traj_msg_home_ptr_);
-    traj_external_point_ptr_ = traj_home_point_ptr_;
-  }
-
   return CallbackReturn::SUCCESS;
 }
 
@@ -1127,11 +1103,7 @@ bool JointTrajectoryController::reset()
     }
   }
 
-  // iterator has no default value
-  // prev_traj_point_ptr_;
   traj_external_point_ptr_.reset();
-  traj_home_point_ptr_.reset();
-  traj_msg_home_ptr_.reset();
 
   return true;
 }