Remove not-loaded functionality that needs more changes.

ros-controls · Jun 5, 2023 · 9322373 · 9322373
1 parent 70d8c33
commit 9322373
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Showing 3 changed files with 7 additions and 96 deletions.
diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -49,17 +49,12 @@ hardware_components_initial_state
 .. code-block:: yaml
 
     hardware_components_initial_state:
-      not_loaded:
-        - "gripper1"
       unconfigured:
         - "arm1"
         - "arm2"
       inactive:
         - "base3"
 
-hardware_components_initial_state.not_loaded (optional; list<string>; default: empty)
-  Defines which hardware components (pluings) should not be loaded activated when controller manager is started.
-
 hardware_components_initial_state.unconfigured (optional; list<string>; default: empty)
   Defines which hardware components will be only loaded immediately when controller manager is started.
 

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -209,46 +209,22 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
       {
         if (components_to_activate.find(component) == components_to_activate.end())
         {
-          if (state.id() == State::PRIMARY_STATE_UNKNOWN)
-          {
-            RCLCPP_WARN(
-              get_logger(),
-              "Hardware component '%s' is unknown, but defined to not be initial loaded. "
-              "Please check the parameters of Controller Manager.",
-              component.c_str());
-          }
-          else
-          {
-            RCLCPP_WARN(
-              get_logger(), "Hardware component '%s' is unknown, therefore not set in '%s' state.",
-              component.c_str(), state.label().c_str());
-          }
+          RCLCPP_WARN(
+            get_logger(), "Hardware component '%s' is unknown, therefore not set in '%s' state.",
+            component.c_str(), state.label().c_str());
         }
         else
         {
-          // if state is not set then component should not be loaded
-          if (state.id() == State::PRIMARY_STATE_UNKNOWN)
-          {
-            RCLCPP_INFO(
-              get_logger(), "Known component '%s' will not be loaded.", component.c_str());
-          }
-          else
-          {
-            RCLCPP_INFO(
-              get_logger(), "Setting component '%s' to '%s' state.", component.c_str(),
-              state.label().c_str());
-            resource_manager_->set_component_state(component, state);
-          }
+          RCLCPP_INFO(
+            get_logger(), "Setting component '%s' to '%s' state.", component.c_str(),
+            state.label().c_str());
+          resource_manager_->set_component_state(component, state);
           components_to_activate.erase(component);
         }
       }
     }
   };
 
-  // not loaded
-  set_components_to_state(
-    "hardware_components_initial_state.not_loaded", rclcpp_lifecycle::State());
-
   // unconfigured (loaded only)
   set_components_to_state(
     "hardware_components_initial_state.unconfigured",

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -359,66 +359,6 @@ TEST_F(TestControllerManagerHWManagementSrvs, selective_activate_deactivate_comp
     }));
 }
 
-class TestControllerManagerHWManagementSrvsNotLoaded : public TestControllerManagerHWManagementSrvs
-{
-public:
-  void SetUp() override
-  {
-    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-    cm_ = std::make_shared<controller_manager::ControllerManager>(
-      std::make_unique<hardware_interface::ResourceManager>(), executor_, TEST_CM_NAME);
-    run_updater_ = false;
-
-    cm_->set_parameter(
-      rclcpp::Parameter("robot_description", ros2_control_test_assets::minimal_robot_urdf));
-    cm_->set_parameter(rclcpp::Parameter(
-      "hardware_components_initial_state.not_loaded",
-      std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
-    cm_->set_parameter(rclcpp::Parameter(
-      "hardware_components_initial_state.inactive",
-      std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME, TEST_ACTUATOR_HARDWARE_NAME})));
-
-    std::string robot_description = "";
-    cm_->get_parameter("robot_description", robot_description);
-    if (robot_description.empty())
-    {
-      throw std::runtime_error(
-        "Unable to initialize resource manager, no robot description found.");
-    }
-
-    cm_->init_resource_manager(robot_description);
-
-    SetUpSrvsCMExecutor();
-  }
-};
-
-TEST_F(TestControllerManagerHWManagementSrvsNotLoaded, test_component_not_loaded)
-{
-  // Default status after start:
-  // checks if "configure_components_on_start" and "activate_components_on_start" are correctly read
-
-  // there is not system loaded therefore test should not break having only two members for checking
-  // results
-  list_hardware_components_and_check(
-    // actuator, sensor, system
-    std::vector<uint8_t>(
-      {LFC_STATE::PRIMARY_STATE_INACTIVE, LFC_STATE::PRIMARY_STATE_INACTIVE,
-       LFC_STATE::PRIMARY_STATE_UNKNOWN}),
-    std::vector<std::string>({INACTIVE, INACTIVE, UNKNOWN}),
-    std::vector<std::vector<std::vector<bool>>>({
-      // is available
-      {{true, true}, {true, true, true}},  // actuator
-      {{}, {true}},                        // sensor
-      {{false, false, false, false}, {false, false, false, false, false, false, false}},  // system
-    }),
-    std::vector<std::vector<std::vector<bool>>>({
-      // is claimed
-      {{false, false}, {false, false, false}},  // actuator
-      {{}, {false}},                            // sensor
-      {{false, false, false, false}, {false, false, false, false, false, false, false}},  // system
-    }));
-}
-
 class TestControllerManagerHWManagementSrvsWithoutParams
 : public TestControllerManagerHWManagementSrvs
 {