Revert "Add diagnostics (backport ros-controls#820) (ros-controls#922)"

This reverts commit dca10f4. Signed-off-by: Joe Schornak <joe.schornak@gmail.com>
schornakj · May 8, 2023 · cafa8c2 · cafa8c2
1 parent 4d1ee3a
commit cafa8c2
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Showing 4 changed files with 2 additions and 42 deletions.
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -9,7 +9,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     ament_index_cpp
     controller_interface
     controller_manager_msgs
-    diagnostic_updater
     hardware_interface
     pluginlib
     rclcpp

diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -40,7 +40,6 @@
 #include "controller_manager_msgs/srv/switch_controller.hpp"
 #include "controller_manager_msgs/srv/unload_controller.hpp"
 
-#include "diagnostic_updater/diagnostic_updater.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/resource_manager.hpp"
 
@@ -350,9 +349,6 @@ class ControllerManager : public rclcpp::Node
     const std::vector<ControllerSpec> & controllers, int strictness,
     const ControllersListIterator controller_it);
 
-  void controller_activity_diagnostic_callback(diagnostic_updater::DiagnosticStatusWrapper & stat);
-  diagnostic_updater::Updater diagnostics_updater_;
-
   std::shared_ptr<rclcpp::Executor> executor_;
 
   std::shared_ptr<pluginlib::ClassLoader<controller_interface::ControllerInterface>> loader_;

diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -15,7 +15,6 @@
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>controller_manager_msgs</depend>
-  <depend>diagnostic_updater</depend>
   <depend>hardware_interface</depend>
   <depend>launch</depend>
   <depend>launch_ros</depend>

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -147,8 +147,7 @@ ControllerManager::ControllerManager(
     kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
-  diagnostics_updater_(this)
+      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
 {
   if (!get_parameter("update_rate", update_rate_))
   {
@@ -164,9 +163,6 @@ ControllerManager::ControllerManager(
 
   init_resource_manager(robot_description);
 
-  diagnostics_updater_.setHardwareID("ros2_control");
-  diagnostics_updater_.add(
-    "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
   init_services();
 }
 
@@ -181,16 +177,12 @@ ControllerManager::ControllerManager(
     kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
-      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
-  diagnostics_updater_(this)
+      kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
 {
   if (!get_parameter("update_rate", update_rate_))
   {
     RCLCPP_WARN(get_logger(), "'update_rate' parameter not set, using default value.");
   }
-  diagnostics_updater_.setHardwareID("ros2_control");
-  diagnostics_updater_.add(
-    "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
   init_services();
 }
 
@@ -2051,30 +2043,4 @@ controller_interface::return_type ControllerManager::check_preceeding_controller
   return controller_interface::return_type::OK;
 };
 
-void ControllerManager::controller_activity_diagnostic_callback(
-  diagnostic_updater::DiagnosticStatusWrapper & stat)
-{
-  // lock controllers
-  std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
-  const std::vector<ControllerSpec> & controllers = rt_controllers_wrapper_.get_updated_list(guard);
-  bool all_active = true;
-  for (size_t i = 0; i < controllers.size(); ++i)
-  {
-    if (!is_controller_active(controllers[i].c))
-    {
-      all_active = false;
-    }
-    stat.add(controllers[i].info.name, controllers[i].c->get_state().label());
-  }
-
-  if (all_active)
-  {
-    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "All controllers are active");
-  }
-  else
-  {
-    stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Not all controllers are active");
-  }
-}
-
 }  // namespace controller_manager