Remove until node from docs and cmake

Author: URJala

ur_controllers/CMakeLists.txt

@@ -25,7 +25,6 @@ find_package(generate_parameter_library REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(action_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
 
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
@@ -48,7 +47,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs
   trajectory_msgs
   action_msgs
-  rclcpp
 )
 
 include_directories(include)
@@ -117,14 +115,6 @@ target_link_libraries(${PROJECT_NAME}
   ur_configuration_controller_parameters
 )
 
-#
-# trajectory_until_node
-#
-add_executable(trajectory_until_node
-  src/trajectory_until_node.cpp
-)
-ament_target_dependencies(trajectory_until_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${THIS_PACKAGE_INCLUDE_DEPENDS})
-
 ament_target_dependencies(${PROJECT_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
@@ -135,11 +125,6 @@ target_compile_options(${PROJECT_NAME} PRIVATE -Wpedantic -Werror=return-type)
 target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
 
-install(
-  TARGETS trajectory_until_node
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib

ur_controllers/controller_plugins.xml

@@ -36,7 +36,7 @@
   </class>
   <class name="ur_controllers/ToolContactController" type="ur_controllers::ToolContactController" base_class_type="controller_interface::ControllerInterface">
     <description>
-      Chainable controller to use the tool contact functionality of the robot.
+      Controller to use the tool contact functionality of the robot.
     </description>
   </class>
 </library>

ur_controllers/doc/index.rst

@@ -12,7 +12,6 @@ robot family. Currently this contains:
 * A **io_and_status_controller** that allows setting I/O ports, controlling some UR-specific
   functionality and publishes status information about the robot.
 * A **tool_contact_controller** that exposes an action to enable the tool contact function on the robot.
-* A **trajectory_until_node**. This is not a controller in itself, but allows for executing a trajectory with any of the motion controllers while having tool contact enabled.
 
 About this package
 ------------------
@@ -416,27 +415,3 @@ The action can be called from the command line using the following command, when
    .. code-block::
 
       ros2 action send_goal /tool_contact_controller/enable_tool_contact ur_msgs/action/ToolContact
-
-.. _trajectory_until_node:
-
-ur_controllers/TrajectoryUntilNode
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This is not a controller in itself, but it allows the user to execute a trajectory with tool contact enabled without having to call 2 actions at the same time.
-This means that the trajectory will execute until either the trajectory is finished or tool contact has been triggered.
-Both scenarios will result in the trajectory being reported as successful.
-
-Action interface / usage
-""""""""""""""""""""""""
-The node provides an action to execute a trajectory with tool contact enabled. For the node to accept action goals, both the motion controller and the tool contact controller need to be in ``active`` state.
-
-* ``/trajectory_until_node/execute [ur_msgs/action/TrajectoryUntil]``
-
-The action contains all the same fields as the ordinary `FollowJointTrajectory <http://docs.ros.org/en/noetic/api/control_msgs/html/action/FollowJointTrajectory.html>`_ action, but has two additional fields.
-One in the goal section called ``until_type``, which is used to choose between different conditions that can stop the trajectory. Currently only tool contact is available.
-The result section contains the other new field called ``until_condition_result``, which reports whether the chosen condition was triggered or not, and also error codes if something went wrong with the controller responsible for the until condition.
-
-Implementation details
-""""""""""""""""""""""
-Upon instantiation of the node, the internal trajectory action client will connect to an action named ``motion_controller/follow_joint_trajectory``.
-This action does not exist, but upon launch of the driver, the node is remapped to connect to the ``initial_joint_controller``, default is ``scaled_joint_trajectory_controller``.
-If you wish to use the node with another motion controller use the launch argument ``initial_joint_controller:=<your_motion_controller>`` when launching the driver.

ur_controllers/package.xml

@@ -43,7 +43,6 @@
   <depend>control_msgs</depend>
   <depend>trajectory_msgs</depend>
   <depend>action_msgs</depend>
-  <depend>rclcpp_components</depend>
 
   <test_depend>controller_manager</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>