fix(controllers): remove duplicate function (#140)

aica-technology · Sep 18, 2024 · 6d2a01b · 6d2a01b
1 parent f75a7cc
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -41,6 +41,7 @@ Release Versions:
 - feat(components): use component description schema 1-1-1 to mark lifecycle property (#136)
 - refactor(controllers): split up base class (#135)
 - release: use updated base image (#139)
+- fix(controllers): remove duplicate function (#140)
 
 ## 4.2.2
 

diff --git a/aica-package.toml b/aica-package.toml
@@ -1,15 +1,15 @@
 #syntax=ghcr.io/aica-technology/package-builder:v1.1.0-rc0006
 
 [metadata]
-version = "5.0.0-rc0007"
+version = "5.0.0-rc0008"
 description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework"
 
 [metadata.collection]
 name = "modulo"
 
 [build]
 type = "ros"
-image = "v2.0.0-rc4-jazzy"
+image = "v2.0.0-jazzy"
 
 [build.dependencies]
 "@aica/foss/control-libraries" = "v9.0.0"

diff --git a/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp b/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
@@ -316,11 +316,6 @@ class BaseControllerInterface : public controller_interface::ControllerInterface
    */
   void set_qos(const rclcpp::QoS& qos);
 
-  /**
-   * @brief Get the current lifecycle state of the controller
-   */
-  rclcpp_lifecycle::State get_lifecycle_state() const;
-
   /**
    * @brief Check if the controller is currently in state active or not.
    * @return True if the controller is active, false otherwise

diff --git a/source/modulo_controllers/src/BaseControllerInterface.cpp b/source/modulo_controllers/src/BaseControllerInterface.cpp
@@ -540,10 +540,6 @@ void BaseControllerInterface::set_qos(const rclcpp::QoS& qos) {
   qos_ = qos;
 }
 
-rclcpp_lifecycle::State BaseControllerInterface::get_lifecycle_state() const {
-  return get_node()->get_current_state();
-}
-
 bool BaseControllerInterface::is_active() const {
   return get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
 }