Delete implementation of SJTC to use upstream implementation

Since speed scaling is merged in the upstream JTC, we dont't need to keep
our SJTC implementation around any longer. For backwards comaptibility we
might want to keep it a little longer as the parameters aren't exactly the
same.

Author: urfeex

ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp

@@ -37,13 +37,8 @@
 #ifndef UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_
 #define UR_CONTROLLERS__SCALED_JOINT_TRAJECTORY_CONTROLLER_HPP_
 
-#include <optional>
 #include <memory>
-#include <vector>
 #include "joint_trajectory_controller/joint_trajectory_controller.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
-#include "rclcpp/time.hpp"
-#include "rclcpp/duration.hpp"
 #include "ur_controllers/scaled_joint_trajectory_controller_parameters.hpp"
 
 namespace ur_controllers
@@ -54,43 +49,11 @@ class ScaledJointTrajectoryController : public joint_trajectory_controller::Join
   ScaledJointTrajectoryController() = default;
   ~ScaledJointTrajectoryController() override = default;
 
-  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
-
-  controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State& state) override;
-
-  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
-
   CallbackReturn on_init() override;
 
 private:
-  std::atomic<double> scaling_factor_{ 1.0 };
-
-  std::optional<std::reference_wrapper<hardware_interface::LoanedStateInterface>> scaling_state_interface_ =
-      std::nullopt;
-
   std::shared_ptr<scaled_joint_trajectory_controller::ParamListener> scaled_param_listener_;
   scaled_joint_trajectory_controller::Params scaled_params_;
-
-  // Private methods copied from Upstream JTC
-  void update_pids();
-
-  /**
-   * @brief Assigns the values from a trajectory point interface to a joint interface.
-   *
-   * @tparam T The type of the joint interface.
-   * @param[out] joint_interface The reference_wrapper to assign the values to
-   * @param[in] trajectory_point_interface Containing the values to assign.
-   * @todo: Use auto in parameter declaration with c++20
-   */
-  template <typename T>
-  bool assign_interface_from_point(const T& joint_interface, const std::vector<double>& trajectory_point_interface)
-  {
-    bool success = true;
-    for (size_t index = 0; index < num_cmd_joints_; ++index) {
-      success &= joint_interface[index].get().set_value(trajectory_point_interface[map_cmd_to_joints_[index]]);
-    }
-    return success;
-  }
 };
 }  // namespace ur_controllers