From ed6d163e5ba8b2c053dd8ad6828f40a49d3b087c Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Thu, 8 Feb 2024 17:40:55 +0300
Subject: [PATCH] remove extra packages

---
 .../CMakeLists.txt                            | 35 -----------------
 .../cartesian_impedance_controller.hpp        | 39 -------------------
 .../package.xml                               | 18 ---------
 .../src/cartesian_impedance_controller.cpp    | 14 -------
 4 files changed, 106 deletions(-)
 delete mode 100644 rbs_controllers/cartesian_impedance_controller/CMakeLists.txt
 delete mode 100644 rbs_controllers/cartesian_impedance_controller/include/cartesian_impedance_controller/cartesian_impedance_controller.hpp
 delete mode 100644 rbs_controllers/cartesian_impedance_controller/package.xml
 delete mode 100644 rbs_controllers/cartesian_impedance_controller/src/cartesian_impedance_controller.cpp

diff --git a/rbs_controllers/cartesian_impedance_controller/CMakeLists.txt b/rbs_controllers/cartesian_impedance_controller/CMakeLists.txt
deleted file mode 100644
index c3b26f4..0000000
--- a/rbs_controllers/cartesian_impedance_controller/CMakeLists.txt
+++ /dev/null
@@ -1,35 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(cartesian_impedance_controller)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-# add_executable(cartesian_impedance_controller src/cartesian_impedance_controller.cpp)
-# target_include_directories(cartesian_impedance_controller PUBLIC
-#   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-#   $<INSTALL_INTERFACE:include>)
-# target_compile_features(cartesian_impedance_controller PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-
-# install(TARGETS cartesian_impedance_controller
-#   DESTINATION lib/${PROJECT_NAME})
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/rbs_controllers/cartesian_impedance_controller/include/cartesian_impedance_controller/cartesian_impedance_controller.hpp b/rbs_controllers/cartesian_impedance_controller/include/cartesian_impedance_controller/cartesian_impedance_controller.hpp
deleted file mode 100644
index 0560abb..0000000
--- a/rbs_controllers/cartesian_impedance_controller/include/cartesian_impedance_controller/cartesian_impedance_controller.hpp
+++ /dev/null
@@ -1,39 +0,0 @@
-#include <cartesian_controller_base/cartesian_controller_base.h>
-#include <cartesian_force_controller/cartesian_force_controller.h>
-#include <cartesian_motion_controller/cartesian_motion_controller.h>
-#include <controller_interface/controller_interface.hpp>
-
-namespace cartesian_impedance_controller
-{
-
-class CartesianImpedanceController : 
-public cartesian_motion_controller::CartesianMotionController,
-public cartesian_force_controller::CartesianForceController
-{
-    public:
-    CartesianImpedanceController();
-
-    virtual LifecycleNodeInterface::CallbackReturn on_init() override;
-
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
-        const rclcpp_lifecycle::State & previous_state) override;
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
-        const rclcpp_lifecycle::State & previous_state) override;
-    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
-        const rclcpp_lifecycle::State & previous_state) override;
-    controller_interface::return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) override;
-
-    using Base = cartesian_controller_base::CartesianControllerBase;
-    using MotionBase = cartesian_motion_controller::CartesianMotionController;
-    using ForceBase = cartesian_force_controller::CartesianForceController;
-    
-    private:
-    ctrl::Vector6D computeImpedance();
-    ctrl::Matrix6D m_stiffness;
-    ctrl::Matrix6D m_damping;
-    std::string m_compliance_ref_link;
-    
-
-};
-
-}
\ No newline at end of file
diff --git a/rbs_controllers/cartesian_impedance_controller/package.xml b/rbs_controllers/cartesian_impedance_controller/package.xml
deleted file mode 100644
index 5a81605..0000000
--- a/rbs_controllers/cartesian_impedance_controller/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>cartesian_impedance_controller</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/rbs_controllers/cartesian_impedance_controller/src/cartesian_impedance_controller.cpp b/rbs_controllers/cartesian_impedance_controller/src/cartesian_impedance_controller.cpp
deleted file mode 100644
index aa9a431..0000000
--- a/rbs_controllers/cartesian_impedance_controller/src/cartesian_impedance_controller.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "cartesian_controller_base/Utility.h"
-#include "controller_interface/controller_interface.hpp"
-#include <cartesian_impedance_controller/cartesian_impedance_controller.hpp>
-
-namespace cartesian_impedance_controller
-{
-CartesianImpedanceController::CartesianImpedanceController()
-: Base::CartesianControllerBase(),
-MotionBase::CartesianMotionController(),
-ForceBase::CartesianForceController()
-{
-}
-
-}
\ No newline at end of file