Update due to changes with profile overrides

tesseract-robotics · Dec 9, 2024 · 5d4a628 · 5d4a628
1 parent fe76a2f
commit 5d4a628
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Showing 6 changed files with 0 additions and 56 deletions.
diff --git a/tesseract_msgs/CMakeLists.txt b/tesseract_msgs/CMakeLists.txt
@@ -73,7 +73,6 @@ add_message_files(
     Mesh.msg
     ObjectColor.msg
     OctreeSubType.msg
-    PlannerProfileRemapping.msg
     PlanningRequest.msg
     PlanningResponse.msg
     PluginInfo.msg

diff --git a/tesseract_msgs/msg/PlannerProfileRemapping.msg b/tesseract_msgs/msg/PlannerProfileRemapping.msg
diff --git a/tesseract_msgs/msg/PlanningRequest.msg b/tesseract_msgs/msg/PlanningRequest.msg
@@ -7,6 +7,3 @@ string input # This should an xml string of tesseract_common::AnyPoly
 bool dotgraph # Enable if DOT Graph should be generated and returned
 bool debug # Enable debug content
 bool save_io # Enable saving of input and output for task infos
-
-tesseract_msgs/PlannerProfileRemapping move_profile_remapping
-tesseract_msgs/PlannerProfileRemapping composite_profile_remapping
diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -291,13 +291,6 @@ struct TesseractPlanningServer::Implementation
     data->setData("planning_input", std::move(planning_input));
     data->setData("environment", std::shared_ptr<const tesseract_environment::Environment>(std::move(env)));
     data->setData("profiles", profiles);
-    auto move_profile_remapping = tesseract_rosutils::fromMsg(goal->request.move_profile_remapping);
-    if (!move_profile_remapping.empty())
-      data->setData("move_profile_remapping", move_profile_remapping);
-
-    auto composite_profile_remapping = tesseract_rosutils::fromMsg(goal->request.composite_profile_remapping);
-    if (!composite_profile_remapping.empty())
-      data->setData("composite_profile_remapping", composite_profile_remapping);
 
     // Solve
     tesseract_common::Stopwatch stopwatch;

diff --git a/tesseract_rosutils/include/tesseract_rosutils/utils.h b/tesseract_rosutils/include/tesseract_rosutils/utils.h
@@ -89,7 +89,6 @@ ROS_DECLARE_MESSAGE(Trajectory)
 ROS_DECLARE_MESSAGE(TransformMap)
 ROS_DECLARE_MESSAGE(VisualGeometry)
 ROS_DECLARE_MESSAGE(JointTrajectory)
-ROS_DECLARE_MESSAGE(PlannerProfileRemapping)
 ROS_DECLARE_MESSAGE(PluginInfo)
 ROS_DECLARE_MESSAGE(KinematicsPluginInfo)
 ROS_DECLARE_MESSAGE(StringPluginInfoPair)
@@ -204,11 +203,6 @@ bool fromMsg(std::shared_ptr<tesseract_scene_graph::JointSafety>& joint_safety,
 
 bool toMsg(tesseract_msgs::Joint& joint_msg, const tesseract_scene_graph::Joint& joint);
 
-std::unordered_map<std::string, std::unordered_map<std::string, std::string>>
-fromMsg(const tesseract_msgs::PlannerProfileRemapping& profile_remapping_msg);
-tesseract_msgs::PlannerProfileRemapping
-toMsg(const std::unordered_map<std::string, std::unordered_map<std::string, std::string>>& profile_remapping);
-
 tesseract_common::PairsCollisionMarginData
 fromMsg(const std::vector<tesseract_msgs::ContactMarginPair>& contact_margin_pairs_msg);
 std::vector<tesseract_msgs::ContactMarginPair>

diff --git a/tesseract_rosutils/src/utils.cpp b/tesseract_rosutils/src/utils.cpp
@@ -66,7 +66,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <tesseract_msgs/Trajectory.h>
 #include <tesseract_msgs/TransformMap.h>
 #include <tesseract_msgs/VisualGeometry.h>
-#include <tesseract_msgs/PlannerProfileRemapping.h>
 #include <tesseract_msgs/PluginInfo.h>
 #include <tesseract_msgs/TaskComposerKey.h>
 #include <tesseract_msgs/TaskComposerNodeInfo.h>
@@ -992,42 +991,6 @@ tesseract_scene_graph::Joint fromMsg(const tesseract_msgs::Joint& joint_msg)
   return joint;
 }
 
-std::unordered_map<std::string, std::unordered_map<std::string, std::string>>
-fromMsg(const tesseract_msgs::PlannerProfileRemapping& profile_remapping_msg)
-{
-  tesseract_planning::PlannerProfileRemapping profile_remapping;
-  for (std::size_t i = 0; i < profile_remapping_msg.planner.size(); ++i)
-  {
-    std::unordered_map<std::string, std::string> mapping;
-    for (const auto& pair : profile_remapping_msg.mapping[i].pairs)
-      mapping.emplace(pair.first, pair.second);
-
-    profile_remapping[profile_remapping_msg.planner[i]] = mapping;
-  }
-
-  return profile_remapping;
-}
-
-tesseract_msgs::PlannerProfileRemapping
-toMsg(const std::unordered_map<std::string, std::unordered_map<std::string, std::string>>& profile_remapping)
-{
-  tesseract_msgs::PlannerProfileRemapping profile_remapping_msg;
-  for (const auto& planner_remapping : profile_remapping)
-  {
-    profile_remapping_msg.planner.push_back(planner_remapping.first);
-    tesseract_msgs::ProfileMap mapping;
-    for (const auto& planner_pair : planner_remapping.second)
-    {
-      tesseract_msgs::StringPair p;
-      p.first = planner_pair.first;
-      p.second = planner_pair.second;
-      mapping.pairs.push_back(p);
-    }
-    profile_remapping_msg.mapping.push_back(mapping);
-  }
-  return profile_remapping_msg;
-}
-
 tesseract_common::PairsCollisionMarginData
 fromMsg(const std::vector<tesseract_msgs::ContactMarginPair>& contact_margin_pairs_msg)
 {