Remove mutex and thread safety TODOs

moveit · Aug 17, 2022 · a77aea4 · a77aea4
1 parent fa43563
commit a77aea4
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h b/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h
@@ -44,8 +44,6 @@
 #include <moveit/robot_state/conversions.h>
 #include <moveit/utils/moveit_error_code.h>
 
-#include <mutex>
-
 namespace moveit_cpp
 {
 MOVEIT_CLASS_FORWARD(PlanningComponent);  // Defines PlanningComponentPtr, ConstPtr, WeakPtr... etc
@@ -248,7 +246,7 @@ class PlanningComponent
 private:
   // Core properties and instances
   rclcpp::Node::SharedPtr node_;
-  MoveItCppPtr moveit_cpp_;  // TODO Make thread safe!
+  MoveItCppPtr moveit_cpp_;
   const std::string group_name_;
   // The robot_model_ member variable of MoveItCpp class will manually free the joint_model_group_ resources
   const moveit::core::JointModelGroup* joint_model_group_;
@@ -264,7 +262,7 @@ class PlanningComponent
   PlanRequestParameters plan_request_parameters_;
   moveit_msgs::msg::WorkspaceParameters workspace_parameters_;
   bool workspace_parameters_set_ = false;
-  PlanSolutionPtr last_plan_solution_;  // TODO Make thread safe!
+  PlanSolutionPtr last_plan_solution_;
 
   // common properties for goals
   // TODO(henningkayser): support goal tolerances

diff --git a/moveit_ros/planning/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning/moveit_cpp/src/planning_component.cpp
@@ -111,7 +111,6 @@ bool PlanningComponent::setPathConstraints(const moveit_msgs::msg::Constraints&
 PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParameters& parameters,
                                                         const bool update_last_solution)
 {
-  std::lock_guard<std::mutex> lock_guard(plan_mutex_);
   // check if joint_model_group exists
   auto plan_solution = std::make_shared<PlanSolution>();
   if (!joint_model_group_)