From c254f919325f19b016dd490bb8407969ede8c8b4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sun, 26 May 2024 17:57:18 +0000
Subject: [PATCH] Remove reference_callback_unstamped

---
 .../steering_controllers_library.hpp          |  1 -
 .../src/steering_controllers_library.cpp      | 36 -------------------
 2 files changed, 37 deletions(-)

diff --git a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
index 6055dd69ae..c11d90dc6f 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp
@@ -142,7 +142,6 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   // callback for topic interface
   STEERING_CONTROLLERS__VISIBILITY_LOCAL void reference_callback(
     const std::shared_ptr<ControllerTwistReferenceMsg> msg);
-  void reference_callback_unstamped(const std::shared_ptr<geometry_msgs::msg::Twist> msg);
 };
 
 }  // namespace steering_controllers_library
diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp
index 8ec4e9d3dc..40db3dbfc4 100644
--- a/steering_controllers_library/src/steering_controllers_library.cpp
+++ b/steering_controllers_library/src/steering_controllers_library.cpp
@@ -234,42 +234,6 @@ void SteeringControllersLibrary::reference_callback(
   }
 }
 
-void SteeringControllersLibrary::reference_callback_unstamped(
-  const std::shared_ptr<geometry_msgs::msg::Twist> msg)
-{
-  RCLCPP_WARN(
-    get_node()->get_logger(),
-    "Use of Twist message without stamped is deprecated and it will be removed in ROS 2 J-Turtle "
-    "version. Use '~/reference' topic with 'geometry_msgs::msg::TwistStamped' message type in the "
-    "future.");
-  auto twist_stamped = *(input_ref_.readFromNonRT());
-  twist_stamped->header.stamp = get_node()->now();
-  // if no timestamp provided use current time for command timestamp
-  if (twist_stamped->header.stamp.sec == 0 && twist_stamped->header.stamp.nanosec == 0u)
-  {
-    RCLCPP_WARN(
-      get_node()->get_logger(),
-      "Timestamp in header is missing, using current time as command timestamp.");
-    twist_stamped->header.stamp = get_node()->now();
-  }
-
-  const auto age_of_last_command = get_node()->now() - twist_stamped->header.stamp;
-
-  if (ref_timeout_ == rclcpp::Duration::from_seconds(0) || age_of_last_command <= ref_timeout_)
-  {
-    twist_stamped->twist = *msg;
-  }
-  else
-  {
-    RCLCPP_ERROR(
-      get_node()->get_logger(),
-      "Received message has timestamp %.10f older for %.10f which is more then allowed timeout "
-      "(%.4f).",
-      rclcpp::Time(twist_stamped->header.stamp).seconds(), age_of_last_command.seconds(),
-      ref_timeout_.seconds());
-  }
-}
-
 controller_interface::InterfaceConfiguration
 SteeringControllersLibrary::command_interface_configuration() const
 {