remove the cm_update_rate API and only fix the controller update rate…

… variable
ros-controls · Nov 7, 2023 · 7d5a77a · 7d5a77a
1 parent efe6359
commit 7d5a77a
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Showing 3 changed files with 0 additions and 8 deletions.
diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -153,9 +153,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   unsigned int get_update_rate() const;
 
-  CONTROLLER_INTERFACE_PUBLIC
-  unsigned int get_cm_update_rate() const;
-
   CONTROLLER_INTERFACE_PUBLIC
   bool is_async() const;
 
@@ -229,7 +226,6 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   std::vector<hardware_interface::LoanedCommandInterface> command_interfaces_;
   std::vector<hardware_interface::LoanedStateInterface> state_interfaces_;
   unsigned int update_rate_ = 0;
-  unsigned int cm_update_rate_ = 0;
   bool is_async_ = false;
   std::string urdf_ = "";
 

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -31,7 +31,6 @@ return_type ControllerInterfaceBase::init(
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
     controller_name, namespace_, node_options, false);  // disable LifecycleNode service interfaces
   urdf_ = urdf;
-  cm_update_rate_ = cm_update_rate;
 
   try
   {
@@ -134,8 +133,6 @@ unsigned int ControllerInterfaceBase::get_update_rate() const { return update_ra
 
 bool ControllerInterfaceBase::is_async() const { return is_async_; }
 
-unsigned int ControllerInterfaceBase::get_cm_update_rate() const { return cm_update_rate_; }
-
 const std::string & ControllerInterfaceBase::get_robot_description() const { return urdf_; }
 
 }  // namespace controller_interface
diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
@@ -376,7 +376,6 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
   // similarly incremented
   EXPECT_EQ(test_controller->internal_counter, pre_internal_counter + (2 * cm_->get_update_rate()));
   EXPECT_EQ(test_controller->get_update_rate(), ctrl_update_rate);
-  EXPECT_EQ(test_controller->get_cm_update_rate(), cm_->get_update_rate());
 
   auto deactivate_future = std::async(
     std::launch::async, &controller_manager::ControllerManager::switch_controller, cm_,