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Delete implementation of SJTC to use upstream implementation #1485

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Merged
merged 1 commit into from
Sep 8, 2025
Merged

Delete implementation of SJTC to use upstream implementation #1485

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37 changes: 0 additions & 37 deletions ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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

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