Remove empty callbacks (#1488)

ros-controls · Jan 20, 2025 · cd6d5f8 · cd6d5f8
1 parent 828f759
commit cd6d5f8
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Showing 6 changed files with 0 additions and 27 deletions.
diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -67,9 +67,6 @@ class AdmittanceController : public controller_interface::ChainableControllerInt
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_cleanup(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 

diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -479,12 +479,6 @@ controller_interface::CallbackReturn AdmittanceController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn AdmittanceController::on_cleanup(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 controller_interface::CallbackReturn AdmittanceController::on_error(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {

diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -78,9 +78,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_cleanup(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1043,12 +1043,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn JointTrajectoryController::on_cleanup(
-  const rclcpp_lifecycle::State &)
-{
-  return CallbackReturn::SUCCESS;
-}
-
 controller_interface::CallbackReturn JointTrajectoryController::on_error(
   const rclcpp_lifecycle::State &)
 {

diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -62,9 +62,6 @@ class PidController : public controller_interface::ChainableControllerInterface
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_deactivate(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::return_type update_reference_from_subscribers(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 

diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -443,12 +443,6 @@ controller_interface::CallbackReturn PidController::on_activate(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn PidController::on_deactivate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 controller_interface::return_type PidController::update_reference_from_subscribers(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {