fixes

.github/workflows/iron-binary-build-main.yml

@@ -18,7 +18,7 @@ on:
       - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 2 * * *'
+    - cron: '03 1 * * *'
 
 jobs:
   binary:

.github/workflows/iron-binary-build-testing.yml

@@ -18,7 +18,7 @@ on:
       - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 2 * * *'
+    - cron: '03 1 * * *'
 
 jobs:
   binary:

.github/workflows/iron-rhel-binary-build.yml

@@ -6,7 +6,7 @@ on:
       - iron
   schedule:
     # Run every day to detect flakiness and broken dependencies
-    - cron: '03 2 * * *'
+    - cron: '03 1 * * *'
 
 
 jobs:

.github/workflows/iron-semi-binary-build-main.yml

@@ -17,7 +17,7 @@ on:
       - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 2 * * *'
+    - cron: '33 1 * * *'
 
 jobs:
   semi_binary:

.github/workflows/iron-semi-binary-build-testing.yml

@@ -17,7 +17,7 @@ on:
       - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 2 * * *'
+    - cron: '33 1 * * *'
 
 jobs:
   semi_binary:

.github/workflows/iron-source-build.yml

@@ -8,7 +8,7 @@ on:
       - iron
   schedule:
     # Run every day to detect flakiness and broken dependencies
-    - cron: '03 4 * * *'
+    - cron: '03 3 * * *'
 
 jobs:
   source:

joint_trajectory_controller/doc/userdoc.rst

@@ -185,7 +185,6 @@ Services
 
 Further information
 --------------------------------------------------------------
-(TBD in ...)
 
 .. toctree::
    :titlesonly:

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

@@ -194,8 +194,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   using ControllerStateMsg = control_msgs::msg::JointTrajectoryControllerState;
   using StatePublisher = realtime_tools::RealtimePublisher<ControllerStateMsg>;
   using StatePublisherPtr = std::unique_ptr<StatePublisher>;
-  rclcpp::Publisher<ControllerStateMsg>::SharedPtr publisher_legacy_;
-  StatePublisherPtr state_publisher_legacy_;
   rclcpp::Publisher<ControllerStateMsg>::SharedPtr publisher_;
   StatePublisherPtr state_publisher_;
 
@@ -285,4 +283,4 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
 
 }  // namespace joint_trajectory_controller
 
-#endif  // JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_
+#endif  // JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -1574,4 +1574,4 @@ void JointTrajectoryController::init_hold_position_msg()
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  joint_trajectory_controller::JointTrajectoryController, controller_interface::ControllerInterface)
+  joint_trajectory_controller::JointTrajectoryController, controller_interface::ControllerInterface)

joint_trajectory_controller/test/test_trajectory_controller.cpp

@@ -317,7 +317,7 @@ TEST_P(TrajectoryControllerTestParameterized, correct_initialization_using_param
   executor.cancel();
 }
 
-TEST_P(TrajectoryControllerTestParameterized, state_topic_legacy_consistency)
+TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency)
 {
   rclcpp::executors::SingleThreadedExecutor executor;
   SetUpAndActivateTrajectoryController(executor, {});
@@ -326,7 +326,7 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_legacy_consistency)
 
   // Spin to receive latest state
   executor.spin_some();
-  auto state = getStateLegacy();
+  auto state = getState();
 
   size_t n_joints = joint_names_.size();
 
@@ -1959,4 +1959,4 @@ INSTANTIATE_TEST_SUITE_P(
 //   set_parameter_and_check_result();
 //   state_interface_types_ = {"velocity"};
 //   set_parameter_and_check_result();
-// }
+// }

joint_trajectory_controller/test/test_trajectory_controller_utils.hpp

@@ -144,10 +144,6 @@ class TestableJointTrajectoryController
 
   double get_cmd_timeout() { return cmd_timeout_; }
 
-  bool use_closed_loop_pid_adapter() { return use_closed_loop_pid_adapter_; }
-
-  bool is_open_loop() { return params_.open_loop_control; }
-
   rclcpp::WaitSet joint_cmd_sub_wait_set_;
 };
 
@@ -299,28 +295,6 @@ class TrajectoryControllerTest : public ::testing::Test
 
   static void TearDownTestCase() { rclcpp::shutdown(); }
 
-  void subscribeToStateLegacy()
-  {
-    auto traj_lifecycle_node = traj_controller_->get_node();
-    traj_lifecycle_node->set_parameter(
-      rclcpp::Parameter("state_publish_rate", static_cast<double>(100)));
-
-    using control_msgs::msg::JointTrajectoryControllerState;
-
-    auto qos = rclcpp::SensorDataQoS();
-    // Needed, otherwise spin_some() returns only the oldest message in the queue
-    // I do not understand why spin_some provides only one message
-    qos.keep_last(1);
-    state_legacy_subscriber_ =
-      traj_lifecycle_node->create_subscription<JointTrajectoryControllerState>(
-        controller_name_ + "/state", qos,
-        [&](std::shared_ptr<JointTrajectoryControllerState> msg)
-        {
-          std::lock_guard<std::mutex> guard(state_legacy_mutex_);
-          state_legacy_msg_ = msg;
-        });
-  }
-
   void subscribeToState()
   {
     auto traj_lifecycle_node = traj_controller_->get_node();
@@ -462,11 +436,6 @@ class TrajectoryControllerTest : public ::testing::Test
     }
   }
 
-  std::shared_ptr<control_msgs::msg::JointTrajectoryControllerState> getStateLegacy() const
-  {
-    std::lock_guard<std::mutex> guard(state_legacy_mutex_);
-    return state_legacy_msg_;
-  }
   std::shared_ptr<control_msgs::msg::JointTrajectoryControllerState> getState() const
   {
     std::lock_guard<std::mutex> guard(state_mutex_);
@@ -590,10 +559,6 @@ class TrajectoryControllerTest : public ::testing::Test
     state_subscriber_;
   mutable std::mutex state_mutex_;
   std::shared_ptr<control_msgs::msg::JointTrajectoryControllerState> state_msg_;
-  rclcpp::Subscription<control_msgs::msg::JointTrajectoryControllerState>::SharedPtr
-    state_legacy_subscriber_;
-  mutable std::mutex state_legacy_mutex_;
-  std::shared_ptr<control_msgs::msg::JointTrajectoryControllerState> state_legacy_msg_;
 
   std::vector<double> joint_pos_;
   std::vector<double> joint_vel_;
@@ -630,4 +595,4 @@ class TrajectoryControllerTestParameterized
 
 }  // namespace test_trajectory_controllers
 
-#endif  // TEST_TRAJECTORY_CONTROLLER_UTILS_HPP_
+#endif  // TEST_TRAJECTORY_CONTROLLER_UTILS_HPP_