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Simplify on_set_chained_mode avoiding cpplint warnings (backport #1564) #1687

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Merged
christophfroehlich merged 3 commits into from
May 17, 2025
Merged

Simplify on_set_chained_mode avoiding cpplint warnings (backport #1564) #1687

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be943cd
Simplify `on_set_chained_mode` implementations avoiding cpplint warni…
bhagyeshagresar May 17, 2025
30e83b5
Update diff_drive_controller.cpp
christophfroehlich May 17, 2025
bc3b579
Update pid_controller.cpp
christophfroehlich May 17, 2025
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6 changes: 1 addition & 5 deletions mecanum_drive_controller/src/mecanum_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -321,11 +321,7 @@ MecanumDriveController::on_export_reference_interfaces()
return reference_interfaces;
}

bool MecanumDriveController::on_set_chained_mode(bool chained_mode)
{
// Always accept switch to/from chained mode
return true || chained_mode;
}
bool MecanumDriveController::on_set_chained_mode(bool /*chained_mode*/) { return true; }

controller_interface::CallbackReturn MecanumDriveController::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/)
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6 changes: 1 addition & 5 deletions pid_controller/src/pid_controller.cpp
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Expand Up @@ -358,11 +358,7 @@ std::vector<hardware_interface::CommandInterface> PidController::on_export_refer
return reference_interfaces;
}

bool PidController::on_set_chained_mode(bool chained_mode)
{
// Always accept switch to/from chained mode
return true || chained_mode;
}
bool PidController::on_set_chained_mode(bool /*chained_mode*/) { return true; }

controller_interface::CallbackReturn PidController::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/)
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6 changes: 1 addition & 5 deletions steering_controllers_library/src/steering_controllers_library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -379,11 +379,7 @@ SteeringControllersLibrary::on_export_reference_interfaces()
return reference_interfaces;
}

bool SteeringControllersLibrary::on_set_chained_mode(bool chained_mode)
{
// Always accept switch to/from chained mode
return true || chained_mode;
}
bool SteeringControllersLibrary::on_set_chained_mode(bool /*chained_mode*/) { return true; }

controller_interface::CallbackReturn SteeringControllersLibrary::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/)
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