Remove deprecated parameter hold_trajectory_duration (#386)

ros-controls · Nov 25, 2018 · 723c4e9 · 723c4e9
1 parent dc64827
commit 723c4e9
Showing 1 changed file with 1 addition and 8 deletions.
diff --git a/...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h b/...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h
@@ -229,14 +229,7 @@ bool JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInt
 
   // Stop trajectory duration
   stop_trajectory_duration_ = 0.0;
-  if (!controller_nh_.getParam("stop_trajectory_duration", stop_trajectory_duration_))
-  {
-    // TODO: Remove this check/warning in Indigo
-    if (controller_nh_.getParam("hold_trajectory_duration", stop_trajectory_duration_))
-    {
-      ROS_WARN("The 'hold_trajectory_duration' has been deprecated in favor of the 'stop_trajectory_duration' parameter. Please update your controller configuration.");
-    }
-  }
+  controller_nh_.getParam("stop_trajectory_duration", stop_trajectory_duration_);
   ROS_DEBUG_STREAM_NAMED(name_, "Stop trajectory has a duration of " << stop_trajectory_duration_ << "s.");
 
   // Checking if partial trajectories are allowed