Remove more unused code

Author: saikishor

controller_manager/include/controller_manager/controller_spec.hpp

@@ -544,22 +544,6 @@ struct ControllerChainSpec
 class ControllerChainDependencyGraph
 {
 public:
-  void add_dependency(const std::string & predecessor, const std::string & successor)
-  {
-    if (controller_graph_.count(predecessor) == 0)
-    {
-      controller_graph_[predecessor] = ControllerPeerInfo();
-      controller_graph_[predecessor].name = predecessor;
-    }
-    if (controller_graph_.count(successor) == 0)
-    {
-      controller_graph_[successor] = ControllerPeerInfo();
-      controller_graph_[successor].name = successor;
-    }
-    controller_graph_[predecessor].successors.push_back(&controller_graph_[successor]);
-    controller_graph_[successor].predecessors.push_back(&controller_graph_[predecessor]);
-  }
-
   void add_dependency(const ControllerPeerInfo & predecessor, const ControllerPeerInfo & successor)
   {
     if (controller_graph_.count(predecessor.name) == 0)

controller_manager/src/controller_manager.cpp

@@ -1341,7 +1341,6 @@ controller_interface::return_type ControllerManager::configure_controller(
     controller_manager::ControllersListIterator ctrl_it;
     if (is_interface_a_chained_interface(cmd_itf, controllers, ctrl_it))
     {
-      controller_chain_dependency_graph_.add_dependency(controller_name, ctrl_it->info.name);
       ros2_control::add_item(
         controller_chain_spec_[controller_name].following_controllers, ctrl_it->info.name);
       ros2_control::add_item(
@@ -1356,7 +1355,6 @@ controller_interface::return_type ControllerManager::configure_controller(
     controller_manager::ControllersListIterator ctrl_it;
     if (is_interface_a_chained_interface(state_itf, controllers, ctrl_it))
     {
-      controller_chain_dependency_graph_.add_dependency(ctrl_it->info.name, controller_name);
       ros2_control::add_item(
         controller_chain_spec_[controller_name].preceding_controllers, ctrl_it->info.name);
       ros2_control::add_item(