From 6defbfe0197688b2dba492f5cf8940b1e17b2ccf Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 19 Jun 2024 20:33:35 +0000
Subject: [PATCH] Fix merge conflict

---
 hardware_interface/src/component_parser.cpp | 124 --------------------
 1 file changed, 124 deletions(-)

diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index bf3e757429..7792b0fbf4 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -593,130 +593,6 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
     ros2_control_it = ros2_control_it->NextSiblingElement(kROS2ControlTag);
   }
 
-<<<<<<< HEAD
-=======
-  // parse full URDF for mimic options
-  urdf::Model model;
-  if (!model.initString(urdf))
-  {
-    throw std::runtime_error("Failed to parse URDF file");
-  }
-  for (auto & hw_info : hardware_info)
-  {
-    for (auto i = 0u; i < hw_info.joints.size(); ++i)
-    {
-      const auto & joint = hw_info.joints.at(i);
-
-      // Search for mimic joints defined in ros2_control tag (deprecated)
-      // TODO(christophfroehlich) delete deprecated config with ROS-J
-      if (joint.parameters.find("mimic") != joint.parameters.cend())
-      {
-        std::cerr << "Warning: Mimic joints defined in ros2_control tag are deprecated. "
-                  << "Please define mimic joints in URDF." << std::endl;
-        const auto mimicked_joint_it = std::find_if(
-          hw_info.joints.begin(), hw_info.joints.end(),
-          [&mimicked_joint =
-             joint.parameters.at("mimic")](const hardware_interface::ComponentInfo & joint_info)
-          { return joint_info.name == mimicked_joint; });
-        if (mimicked_joint_it == hw_info.joints.cend())
-        {
-          throw std::runtime_error(
-            "Mimicked joint '" + joint.parameters.at("mimic") + "' not found");
-        }
-        hardware_interface::MimicJoint mimic_joint;
-        mimic_joint.joint_index = i;
-        mimic_joint.multiplier = 1.0;
-        mimic_joint.offset = 0.0;
-        mimic_joint.mimicked_joint_index = std::distance(hw_info.joints.begin(), mimicked_joint_it);
-        auto param_it = joint.parameters.find("multiplier");
-        if (param_it != joint.parameters.end())
-        {
-          mimic_joint.multiplier = hardware_interface::stod(joint.parameters.at("multiplier"));
-        }
-        param_it = joint.parameters.find("offset");
-        if (param_it != joint.parameters.end())
-        {
-          mimic_joint.offset = hardware_interface::stod(joint.parameters.at("offset"));
-        }
-        hw_info.mimic_joints.push_back(mimic_joint);
-      }
-      else
-      {
-        auto urdf_joint = model.getJoint(joint.name);
-        if (!urdf_joint)
-        {
-          throw std::runtime_error("Joint '" + joint.name + "' not found in URDF");
-        }
-        if (!urdf_joint->mimic && joint.is_mimic == MimicAttribute::TRUE)
-        {
-          throw std::runtime_error(
-            "Joint '" + joint.name + "' has no mimic information in the URDF.");
-        }
-        if (urdf_joint->mimic && joint.is_mimic != MimicAttribute::FALSE)
-        {
-          if (joint.command_interfaces.size() > 0)
-          {
-            throw std::runtime_error(
-              "Joint '" + joint.name +
-              "' has mimic attribute not set to false: Activated mimic joints cannot have command "
-              "interfaces.");
-          }
-          auto find_joint = [&hw_info](const std::string & name)
-          {
-            auto it = std::find_if(
-              hw_info.joints.begin(), hw_info.joints.end(),
-              [&name](const auto & j) { return j.name == name; });
-            if (it == hw_info.joints.end())
-            {
-              throw std::runtime_error(
-                "Mimic joint '" + name + "' not found in <ros2_control> tag");
-            }
-            return std::distance(hw_info.joints.begin(), it);
-          };
-
-          MimicJoint mimic_joint;
-          mimic_joint.joint_index = i;
-          mimic_joint.mimicked_joint_index = find_joint(urdf_joint->mimic->joint_name);
-          mimic_joint.multiplier = urdf_joint->mimic->multiplier;
-          mimic_joint.offset = urdf_joint->mimic->offset;
-          hw_info.mimic_joints.push_back(mimic_joint);
-        }
-      }
-      // TODO(christophfroehlich) remove this code if deprecated mimic attribute - branch
-      // from above is removed (double check here, but throws already above if not found in URDF)
-      auto urdf_joint = model.getJoint(joint.name);
-      if (!urdf_joint)
-      {
-        std::cerr << "Joint: '" + joint.name + "' not found in URDF. Skipping limits parsing!"
-                  << std::endl;
-        continue;
-      }
-      if (urdf_joint->type == urdf::Joint::FIXED)
-      {
-        throw std::runtime_error(
-          "Joint '" + joint.name +
-          "' is of type 'fixed'. "
-          "Fixed joints do not make sense in ros2_control.");
-      }
-      joint_limits::JointLimits limits;
-      getJointLimits(urdf_joint, limits);
-      // Take the most restricted one. Also valid for continuous-joint type only
-      detail::update_interface_limits(joint.command_interfaces, limits);
-      hw_info.limits[joint.name] = limits;
-      joint_limits::SoftJointLimits soft_limits;
-      if (getSoftJointLimits(urdf_joint, soft_limits))
-      {
-        if (limits.has_position_limits)
-        {
-          soft_limits.min_position = std::max(soft_limits.min_position, limits.min_position);
-          soft_limits.max_position = std::min(soft_limits.max_position, limits.max_position);
-        }
-        hw_info.soft_limits[joint.name] = soft_limits;
-      }
-    }
-  }
-
->>>>>>> fbb893b (Small improvements to the error output in component parser to make debugging easier. (#1580))
   return hardware_info;
 }