Remove empty callbacks (ros-controls#1488)

Juliaj · mamueluth · commit 9fc3ecaf0a2d · 2025-03-14T09:26:07.000Z
diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -67,9 +67,6 @@ class AdmittanceController : public controller_interface::ChainableControllerInt
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_cleanup(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -479,12 +479,6 @@ controller_interface::CallbackReturn AdmittanceController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn AdmittanceController::on_cleanup(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 controller_interface::CallbackReturn AdmittanceController::on_error(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -78,9 +78,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   controller_interface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_cleanup(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::CallbackReturn on_error(
     const rclcpp_lifecycle::State & previous_state) override;
 
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -1043,12 +1043,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn JointTrajectoryController::on_cleanup(
-  const rclcpp_lifecycle::State &)
-{
-  return CallbackReturn::SUCCESS;
-}
-
 controller_interface::CallbackReturn JointTrajectoryController::on_error(
   const rclcpp_lifecycle::State &)
 {
diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
@@ -62,9 +62,6 @@ class PidController : public controller_interface::ChainableControllerInterface
   controller_interface::CallbackReturn on_activate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-  controller_interface::CallbackReturn on_deactivate(
-    const rclcpp_lifecycle::State & previous_state) override;
-
   controller_interface::return_type update_reference_from_subscribers(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
@@ -443,12 +443,6 @@ controller_interface::CallbackReturn PidController::on_activate(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn PidController::on_deactivate(
-  const rclcpp_lifecycle::State & /*previous_state*/)
-{
-  return controller_interface::CallbackReturn::SUCCESS;
-}
-
 controller_interface::return_type PidController::update_reference_from_subscribers(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {

Original file line number	Diff line number	Diff line change
`@@ -479,12 +479,6 @@ controller_interface::CallbackReturn AdmittanceController::on_deactivate(`
`479`	`479`	`return CallbackReturn::SUCCESS;`
`480`	`480`	`}`
`481`	`481`
`482`		`-controller_interface::CallbackReturn AdmittanceController::on_cleanup(`
`483`		`- const rclcpp_lifecycle::State & /previous_state/)`
`484`		`-{`
`485`		`- return controller_interface::CallbackReturn::SUCCESS;`
`486`		`-}`
`487`		`-`
`488`	`482`	`controller_interface::CallbackReturn AdmittanceController::on_error(`
`489`	`483`	`const rclcpp_lifecycle::State & /previous_state/)`
`490`	`484`	`{`
Original file line number	Diff line number	Diff line change
`@@ -1043,12 +1043,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(`
`1043`	`1043`	`return CallbackReturn::SUCCESS;`
`1044`	`1044`	`}`
`1045`	`1045`
`1046`		`-controller_interface::CallbackReturn JointTrajectoryController::on_cleanup(`
`1047`		`- const rclcpp_lifecycle::State &)`
`1048`		`-{`
`1049`		`- return CallbackReturn::SUCCESS;`
`1050`		`-}`
`1051`		`-`
`1052`	`1046`	`controller_interface::CallbackReturn JointTrajectoryController::on_error(`
`1053`	`1047`	`const rclcpp_lifecycle::State &)`
`1054`	`1048`	`{`
Original file line number	Diff line number	Diff line change
`@@ -443,12 +443,6 @@ controller_interface::CallbackReturn PidController::on_activate(`
`443`	`443`	`return controller_interface::CallbackReturn::SUCCESS;`
`444`	`444`	`}`
`445`	`445`
`446`		`-controller_interface::CallbackReturn PidController::on_deactivate(`
`447`		`- const rclcpp_lifecycle::State & /previous_state/)`
`448`		`-{`
`449`		`- return controller_interface::CallbackReturn::SUCCESS;`
`450`		`-}`
`451`		`-`
`452`	`446`	`controller_interface::return_type PidController::update_reference_from_subscribers(`
`453`	`447`	`const rclcpp::Time & /time/, const rclcpp::Duration & /period/)`
`454`	`448`	`{`