Remove AbortTask

tesseract-robotics · Sep 29, 2023 · 35f4e5e · 35f4e5e
1 parent 5f650fb
commit 35f4e5e
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Showing 5 changed files with 1 addition and 154 deletions.
diff --git a/tesseract_task_composer/README.rst b/tesseract_task_composer/README.rst
@@ -476,7 +476,7 @@ The final task that is called in a task graph if successful
 Error Task
 ^^^^^^^^^^
 
-The final task that is called in a task graph if error occurs
+The final task that is called in a task graph if error occurs. Also can add `trigger_abort: true` if it should abort when this task is reached.
 
 .. code-block:: yaml
 
@@ -485,18 +485,6 @@ The final task that is called in a task graph if error occurs
      config:
        conditional: false
 
-Abort Task
-^^^^^^^^^^
-
-The task that is called if you want to abort everything
-
-.. code-block:: yaml
-
-   AbortTask:
-     class: AbortTaskFactory
-     config:
-       conditional: false
-
 Sync Task
 ^^^^^^^^^
 

diff --git a/tesseract_task_composer/core/CMakeLists.txt b/tesseract_task_composer/core/CMakeLists.txt
@@ -38,7 +38,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CUR
 
 add_library(
   ${PROJECT_NAME}_nodes
-  src/nodes/abort_task.cpp
   src/nodes/done_task.cpp
   src/nodes/error_task.cpp
   src/nodes/remap_task.cpp

diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/abort_task.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/abort_task.h
diff --git a/tesseract_task_composer/core/src/nodes/abort_task.cpp b/tesseract_task_composer/core/src/nodes/abort_task.cpp
diff --git a/tesseract_task_composer/core/src/task_composer_task_plugin_factory.cpp b/tesseract_task_composer/core/src/task_composer_task_plugin_factory.cpp
@@ -29,7 +29,6 @@
 #include <tesseract_task_composer/core/task_composer_graph.h>
 #include <tesseract_task_composer/core/task_composer_pipeline.h>
 
-#include <tesseract_task_composer/core/nodes/abort_task.h>
 #include <tesseract_task_composer/core/nodes/done_task.h>
 #include <tesseract_task_composer/core/nodes/error_task.h>
 #include <tesseract_task_composer/core/nodes/remap_task.h>
@@ -39,7 +38,6 @@
 
 namespace tesseract_planning
 {
-using AbortTaskFactory = TaskComposerTaskFactory<AbortTask>;
 using DoneTaskFactory = TaskComposerTaskFactory<DoneTask>;
 using ErrorTaskFactory = TaskComposerTaskFactory<ErrorTask>;
 using RemapTaskFactory = TaskComposerTaskFactory<RemapTask>;
@@ -59,8 +57,6 @@ namespace tesseract_planning::test_suite
 using TestTaskFactory = TaskComposerTaskFactory<TestTask>;
 }
 
-// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::AbortTaskFactory, AbortTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 TESSERACT_ADD_TASK_COMPOSER_NODE_PLUGIN(tesseract_planning::DoneTaskFactory, DoneTaskFactory)
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)