Clean up for PR

Signed-off-by: AdamPettinger <adam.l.pettinger@gmail.com>

Author: AdamPettinger

ur_controllers/include/ur_controllers/gravity_update_controller.hpp

@@ -43,21 +43,10 @@
 #include <unordered_map>
 #include <vector>
 
-// #include "std_srvs/srv/trigger.hpp"
-
 #include "controller_interface/controller_interface.hpp"
-// #include "ur_msgs/msg/io_states.hpp"
-// #include "ur_msgs/msg/tool_data_msg.hpp"
-// #include "ur_dashboard_msgs/msg/robot_mode.hpp"
-// #include "ur_dashboard_msgs/msg/safety_mode.hpp"
 #include "ur_msgs/srv/set_gravity.hpp"
-// #include "ur_msgs/srv/set_io.hpp"
-// #include "ur_msgs/srv/set_analog_output.hpp"
-// #include "ur_msgs/srv/set_speed_slider_fraction.hpp"
-// #include "ur_msgs/srv/set_payload.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp/duration.hpp"
-// #include "std_msgs/msg/bool.hpp"
 #include "tf2/LinearMath/Quaternion.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2_ros/buffer.hpp"
@@ -97,69 +86,11 @@ class GravityUpdateController : public controller_interface::ControllerInterface
   CallbackReturn on_init() override;
 
 private:
-  // bool setIO(ur_msgs::srv::SetIO::Request::SharedPtr req, ur_msgs::srv::SetIO::Response::SharedPtr resp);
-
-  // bool setAnalogOutput(ur_msgs::srv::SetAnalogOutput::Request::SharedPtr req,
-  //                      ur_msgs::srv::SetAnalogOutput::Response::SharedPtr resp);
-
-  // bool setSpeedSlider(ur_msgs::srv::SetSpeedSliderFraction::Request::SharedPtr req,
-  //                     ur_msgs::srv::SetSpeedSliderFraction::Response::SharedPtr resp);
-
-  // bool resendRobotProgram(std_srvs::srv::Trigger::Request::SharedPtr req,
-  //                         std_srvs::srv::Trigger::Response::SharedPtr resp);
-
-  // bool handBackControl(std_srvs::srv::Trigger::Request::SharedPtr req,
-  //                      std_srvs::srv::Trigger::Response::SharedPtr resp);
-
-  // bool setPayload(const ur_msgs::srv::SetPayload::Request::SharedPtr req,
-  //                 ur_msgs::srv::SetPayload::Response::SharedPtr resp);
-
   bool setGravity(const ur_msgs::srv::SetGravity::Request::SharedPtr req,
                   ur_msgs::srv::SetGravity::Response::SharedPtr resp);
 
-  // bool zeroFTSensor(std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp);
-
-  // void publishIO();
-
-  // void publishToolData();
-
-  // void publishRobotMode();
-
-  // void publishSafetyMode();
-
-  // void publishProgramRunning();
-
 protected:
-  // void initMsgs();
-
-  // bool first_pass_;
-
-  // internal commands
-  // std::array<double, 18> standard_digital_output_cmd_;
-  // std::array<double, 18> standard_analog_output_cmd_;
-  // double target_speed_fraction_cmd_;
-
-  // services
-  // rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resend_robot_program_srv_;
-  // rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr hand_back_control_srv_;
-  // rclcpp::Service<ur_msgs::srv::SetSpeedSliderFraction>::SharedPtr set_speed_slider_srv_;
-  // rclcpp::Service<ur_msgs::srv::SetIO>::SharedPtr set_io_srv_;
-  // rclcpp::Service<ur_msgs::srv::SetAnalogOutput>::SharedPtr set_analog_output_srv_;
-  // rclcpp::Service<ur_msgs::srv::SetPayload>::SharedPtr set_payload_srv_;
   rclcpp::Service<ur_msgs::srv::SetGravity>::SharedPtr set_gravity_srv_;
-  // rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr tare_sensor_srv_;
-
-  // std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::IOStates>> io_pub_;
-  // std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::ToolDataMsg>> tool_data_pub_;
-  // std::shared_ptr<rclcpp::Publisher<ur_dashboard_msgs::msg::RobotMode>> robot_mode_pub_;
-  // std::shared_ptr<rclcpp::Publisher<ur_dashboard_msgs::msg::SafetyMode>> safety_mode_pub_;
-  // std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>> program_state_pub_;
-
-  // ur_msgs::msg::IOStates io_msg_;
-  // ur_msgs::msg::ToolDataMsg tool_data_msg_;
-  // ur_dashboard_msgs::msg::RobotMode robot_mode_msg_;
-  // ur_dashboard_msgs::msg::SafetyMode safety_mode_msg_;
-  // std_msgs::msg::Bool program_running_msg_;
 
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
@@ -169,9 +100,6 @@ class GravityUpdateController : public controller_interface::ControllerInterface
   gravity_update_controller::Params params_;
 
   static constexpr double ASYNC_WAITING = 2.0;
-  // TODO(anyone) publishers to add: tcp_pose_pub_
-  // TODO(anyone) subscribers to add: script_command_sub_
-  // TODO(anyone) service servers to add: resend_robot_program_srv_, deactivate_srv_, set_payload_srv_, tare_sensor_srv_
 
   /**
    * @brief wait until a command interface isn't in state ASYNC_WAITING anymore or until the parameter maximum_retries