Revert "Issue-759: Adding cleanup service"

This reverts commit 9b8d702.

controller_manager/controller_manager/__init__.py

@@ -23,7 +23,6 @@
     set_hardware_component_state,
     switch_controllers,
     unload_controller,
-    cleanup_controller,
 )
 
 __all__ = [
@@ -37,5 +36,4 @@
     "set_hardware_component_state",
     "switch_controllers",
     "unload_controller",
-    "cleanup_controller",
 ]

controller_manager/controller_manager/controller_manager_services.py

@@ -23,7 +23,6 @@
     SetHardwareComponentState,
     SwitchController,
     UnloadController,
-    CleanupController,
 )
 
 import rclpy
@@ -176,11 +175,3 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti
         request,
         service_timeout,
     )
-
-
-def cleanup_controller(node, controller_manager_name, controller_name):
-    request = CleanupController.Request()
-    request.name = controller_name
-    return service_caller(
-        node, f"{controller_manager_name}/cleanup_controller", CleanupController, request
-    )

controller_manager/controller_manager/spawner.py

@@ -28,7 +28,6 @@
     load_controller,
     switch_controllers,
     unload_controller,
-    cleanup_controller,
 )
 
 import rclpy
@@ -102,7 +101,6 @@ def wait_for_controller_manager(node, controller_manager, timeout_duration):
         f"{controller_manager}/reload_controller_libraries",
         f"{controller_manager}/switch_controller",
         f"{controller_manager}/unload_controller",
-        f"{controller_manager}/cleanup_controller",
     )
 
     # Wait for controller_manager

controller_manager/include/controller_manager/controller_manager.hpp

@@ -39,7 +39,6 @@
 #include "controller_manager_msgs/srv/set_hardware_component_state.hpp"
 #include "controller_manager_msgs/srv/switch_controller.hpp"
 #include "controller_manager_msgs/srv/unload_controller.hpp"
-#include "controller_manager_msgs/srv/cleanup_controller.hpp"
 
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "hardware_interface/handle.hpp"
@@ -108,9 +107,6 @@ class ControllerManager : public rclcpp::Node
   CONTROLLER_MANAGER_PUBLIC
   controller_interface::return_type unload_controller(const std::string & controller_name);
 
-  CONTROLLER_MANAGER_PUBLIC
-  controller_interface::return_type cleanup_controller(const std::string & controller_name);
-
   CONTROLLER_MANAGER_PUBLIC
   std::vector<ControllerSpec> get_loaded_controllers() const;
 
@@ -300,11 +296,6 @@ class ControllerManager : public rclcpp::Node
     const std::shared_ptr<controller_manager_msgs::srv::UnloadController::Request> request,
     std::shared_ptr<controller_manager_msgs::srv::UnloadController::Response> response);
 
-  CONTROLLER_MANAGER_PUBLIC
-  void cleanup_controller_service_cb(
-    const std::shared_ptr<controller_manager_msgs::srv::CleanupController::Request> request,
-    std::shared_ptr<controller_manager_msgs::srv::CleanupController::Response> response);
-
   CONTROLLER_MANAGER_PUBLIC
   void list_controller_types_srv_cb(
     const std::shared_ptr<controller_manager_msgs::srv::ListControllerTypes::Request> request,
@@ -530,8 +521,6 @@ class ControllerManager : public rclcpp::Node
     switch_controller_service_;
   rclcpp::Service<controller_manager_msgs::srv::UnloadController>::SharedPtr
     unload_controller_service_;
-  rclcpp::Service<controller_manager_msgs::srv::CleanupController>::SharedPtr
-    cleanup_controller_service_;
 
   rclcpp::Service<controller_manager_msgs::srv::ListHardwareComponents>::SharedPtr
     list_hardware_components_service_;

controller_manager/src/controller_manager.cpp

@@ -504,10 +504,6 @@ void ControllerManager::init_services()
     "~/unload_controller",
     std::bind(&ControllerManager::unload_controller_service_cb, this, _1, _2), qos_services,
     best_effort_callback_group_);
-  cleanup_controller_service_ = create_service<controller_manager_msgs::srv::CleanupController>(
-    "~/cleanup_controller",
-    std::bind(&ControllerManager::cleanup_controller_service_cb, this, _1, _2), qos_services,
-    best_effort_callback_group_);
   list_hardware_components_service_ =
     create_service<controller_manager_msgs::srv::ListHardwareComponents>(
       "~/list_hardware_components",
@@ -668,61 +664,6 @@ controller_interface::return_type ControllerManager::unload_controller(
   return controller_interface::return_type::OK;
 }
 
-controller_interface::return_type ControllerManager::cleanup_controller(
-  const std::string & controller_name)
-{
-  std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
-  std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
-  const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
-
-  // Transfers the active controllers over, skipping the one to be removed and the active ones.
-  to = from;
-
-  auto found_it = std::find_if(
-    to.begin(), to.end(),
-    std::bind(controller_name_compare, std::placeholders::_1, controller_name));
-  if (found_it == to.end())
-  {
-    // Fails if we could not remove the controllers
-    to.clear();
-    RCLCPP_ERROR(
-      get_logger(),
-      "Could not clear controller with name '%s' because no controller with this name exists",
-      controller_name.c_str());
-    return controller_interface::return_type::ERROR;
-  }
-
-  auto & controller = *found_it;
-
-  if (is_controller_active(*controller.c))
-  {
-    to.clear();
-    RCLCPP_ERROR(
-      get_logger(), "Could not clear controller with name '%s' because it is still active",
-      controller_name.c_str());
-    return controller_interface::return_type::ERROR;
-  }
-
-  RCLCPP_DEBUG(get_logger(), "Cleanup controller");
-  // TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
-  // cleaning-up controllers?
-  controller.c->get_node()->cleanup();
-  executor_->remove_node(controller.c->get_node()->get_node_base_interface());
-  to.erase(found_it);
-
-  // Destroys the old controllers list when the realtime thread is finished with it.
-  RCLCPP_DEBUG(get_logger(), "Realtime switches over to new controller list");
-  rt_controllers_wrapper_.switch_updated_list(guard);
-  std::vector<ControllerSpec> & new_unused_list = rt_controllers_wrapper_.get_unused_list(guard);
-  RCLCPP_DEBUG(get_logger(), "Destruct controller");
-  new_unused_list.clear();
-  RCLCPP_DEBUG(get_logger(), "Destruct controller finished");
-
-  RCLCPP_DEBUG(get_logger(), "Successfully cleaned controller '%s'", controller_name.c_str());
-
-  return controller_interface::return_type::OK;
-}
-
 std::vector<ControllerSpec> ControllerManager::get_loaded_controllers() const
 {
   std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
@@ -1937,22 +1878,6 @@ void ControllerManager::unload_controller_service_cb(
     get_logger(), "unloading service finished for controller '%s' ", request->name.c_str());
 }
 
-void ControllerManager::cleanup_controller_service_cb(
-  const std::shared_ptr<controller_manager_msgs::srv::CleanupController::Request> request,
-  std::shared_ptr<controller_manager_msgs::srv::CleanupController::Response> response)
-{
-  // lock services
-  RCLCPP_DEBUG(
-    get_logger(), "cleanup service called for controller '%s' ", request->name.c_str());
-  std::lock_guard<std::mutex> guard(services_lock_);
-  RCLCPP_DEBUG(get_logger(), "cleanup service locked");
-
-  response->ok = cleanup_controller(request->name) == controller_interface::return_type::OK;
-
-  RCLCPP_DEBUG(
-    get_logger(), "cleanup service finished for controller '%s' ", request->name.c_str());
-}
-
 void ControllerManager::list_hardware_components_srv_cb(
   const std::shared_ptr<controller_manager_msgs::srv::ListHardwareComponents::Request>,
   std::shared_ptr<controller_manager_msgs::srv::ListHardwareComponents::Response> response)

controller_manager_msgs/CMakeLists.txt

@@ -23,7 +23,6 @@ set(srv_files
   srv/SetHardwareComponentState.srv
   srv/SwitchController.srv
   srv/UnloadController.srv
-  srv/CleanupController.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}

ros2controlcli/setup.py

@@ -64,7 +64,6 @@
                 ros2controlcli.verb.set_controller_state:SetControllerStateVerb",
             "switch_controllers = ros2controlcli.verb.switch_controllers:SwitchControllersVerb",
             "unload_controller = ros2controlcli.verb.unload_controller:UnloadControllerVerb",
-            "cleanup_controller = ros2controlcli.verb.cleanup_controller:CleanupControllerVerb",
         ],
     },
 )