remove cancel_step

source/modulo_components/include/modulo_components/Component.hpp

@@ -85,7 +85,6 @@ class Component : public rclcpp::Node, public ComponentInterface {
   void on_execute();
 
   // TODO hide ROS methods
-  using ComponentInterface::cancel_step;
   using ComponentInterface::create_output;
   using ComponentInterface::evaluate_periodic_callbacks;
   using ComponentInterface::finalize_interfaces;

source/modulo_components/include/modulo_components/ComponentInterface.hpp

@@ -93,11 +93,6 @@ class ComponentInterface {
    */
   virtual void on_step_callback();
 
-  /**
-   * @brief Cancel the step timer.
-   */
-  void cancel_step();
-
   /**
    * @brief Add a parameter.
    * @details This method stores a pointer reference to an existing Parameter object in the local parameter map and

source/modulo_components/include/modulo_components/LifecycleComponent.hpp

@@ -266,7 +266,6 @@ class LifecycleComponent : public rclcpp_lifecycle::LifecycleNode, public Compon
   bool has_error_;
 
   // TODO hide ROS methods
-  using ComponentInterface::cancel_step;
   using ComponentInterface::create_output;
   using ComponentInterface::evaluate_periodic_callbacks;
   using ComponentInterface::finalize_interfaces;

source/modulo_components/modulo_components/component.py

@@ -103,4 +103,4 @@ def raise_error(self):
         """
         super().raise_error()
         self.set_predicate("in_error_state", True)
-        self._cancel_step()
+        self._finalize_interfaces()

source/modulo_components/modulo_components/component_interface.py

@@ -113,13 +113,6 @@ def on_step_callback(self):
         """
         pass
 
-    def _cancel_step(self):
-        """
-        Cancel the step timer.
-        """
-        if self.__step_timer:
-            self.__step_timer.cancel()
-
     def add_parameter(self, parameter: Union[str, sr.Parameter], description: str, read_only=False) -> None:
         """
         Add a parameter. This method stores either the name of the attribute corresponding to the parameter object or
@@ -942,4 +935,6 @@ def _finalize_interfaces(self):
         self.__tf_broadcaster = None
         self.__static_tf_broadcaster = None
         self._predicate_publisher = None
+        if self.__step_timer:
+            self.__step_timer.cancel()
         self.__step_timer = None

source/modulo_components/src/Component.cpp

@@ -65,6 +65,6 @@ std::shared_ptr<state_representation::ParameterInterface> Component::get_paramet
 void Component::raise_error() {
   ComponentInterface::raise_error();
   this->set_predicate("in_error_state", true);
-  this->cancel_step();
+  this->finalize_interfaces();
 }
 }// namespace modulo_components

source/modulo_components/src/ComponentInterface.cpp

@@ -73,12 +73,6 @@ void ComponentInterface::step() {}
 
 void ComponentInterface::on_step_callback() {}
 
-void ComponentInterface::cancel_step() {
-  if (this->step_timer_ != nullptr) {
-    this->step_timer_->cancel();
-  }
-}
-
 void ComponentInterface::add_parameter(
     const std::shared_ptr<state_representation::ParameterInterface>& parameter, const std::string& description,
     bool read_only) {
@@ -622,6 +616,9 @@ void ComponentInterface::finalize_interfaces() {
   this->predicate_publisher_.reset();
   this->empty_services_.clear();
   this->string_services_.clear();
+  if (this->step_timer_ != nullptr) {
+    this->step_timer_->cancel();
+  }
   this->step_timer_.reset();
   this->tf_buffer_.reset();
   this->tf_listener_.reset();

source/modulo_controllers/src/BaseControllerInterface.cpp

@@ -41,7 +41,6 @@ BaseControllerInterface::on_configure(const rclcpp_lifecycle::State&) {
   add_outputs();
 
   if (predicates_.size()) {
-    // TODO: topic
     predicate_publisher_ =
         get_node()->create_publisher<modulo_interfaces::msg::PredicateCollection>("/predicates", qos_);
     predicate_message_.node = get_node()->get_fully_qualified_name();