Revert "[ros2] Add Stage property to assign a list of controllers to …

…use when executing the planned trajectory (#355)"

This reverts commit 94d6514.

capabilities/src/execute_task_solution_capability.cpp

@@ -180,7 +180,6 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 		}
 		exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
 		exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
-		exec_traj.controller_name = sub_traj.execution_info.controller_names;
 
 		/* TODO add action feedback and markers */
 		exec_traj.effect_on_success = [this, sub_traj,

core/include/moveit/task_constructor/stage.h

@@ -39,7 +39,6 @@
 
 #pragma once
 
-#include "trajectory_execution_info.h"
 #include "utils.h"
 #include <moveit/macros/class_forward.h>
 #include <moveit/task_constructor/storage.h>
@@ -202,14 +201,6 @@ class Stage
 	/// marker namespace of solution markers
 	const std::string& markerNS() { return properties().get<std::string>("marker_ns"); }
 
-	/// Set and get info to use when executing the stage's trajectory
-	void setTrajectoryExecutionInfo(TrajectoryExecutionInfo trajectory_execution_info) {
-		setProperty("trajectory_execution_info", trajectory_execution_info);
-	}
-	TrajectoryExecutionInfo trajectoryExecutionInfo() {
-		return properties().get<TrajectoryExecutionInfo>("trajectory_execution_info");
-	}
-
 	/// forwarding of properties between interface states
 	void forwardProperties(const InterfaceState& source, InterfaceState& dest);
 	std::set<std::string> forwardedProperties() const {

core/src/container.cpp

@@ -365,13 +365,8 @@ void ContainerBase::insert(Stage::pointer&& stage, int before) {
 	if (!stage)
 		throw std::runtime_error(name() + ": received invalid stage pointer");
 
-	if (stage->trajectoryExecutionInfo().controller_names.empty()) {
-		stage->setTrajectoryExecutionInfo(this->trajectoryExecutionInfo());
-	}
-
 	StagePrivate* impl = stage->pimpl();
 	impl->setParent(this);
-
 	ContainerBasePrivate::const_iterator where = pimpl()->childByIndex(before, true);
 	ContainerBasePrivate::iterator it = pimpl()->children_.insert(where, std::move(stage));
 	impl->setParentPosition(it);

core/src/stage.cpp

@@ -308,8 +308,6 @@ Stage::Stage(StagePrivate* impl) : pimpl_(impl) {
 	auto& p = properties();
 	p.declare<double>("timeout", "timeout per run (s)");
 	p.declare<std::string>("marker_ns", name(), "marker namespace");
-	p.declare<TrajectoryExecutionInfo>("trajectory_execution_info", TrajectoryExecutionInfo(),
-	                                   "settings used when executing the trajectory");
 
 	p.declare<std::set<std::string>>("forwarded_properties", std::set<std::string>(),
 	                                 "set of interface properties to forward");

core/src/storage.cpp

@@ -229,10 +229,6 @@ void SubTrajectory::appendTo(moveit_task_constructor_msgs::msg::Solution& msg, I
 	moveit_task_constructor_msgs::msg::SubTrajectory& t = msg.sub_trajectory.back();
 	SolutionBase::fillInfo(t.info, introspection);
 
-	const auto trajectory_execution_info =
-	    creator()->properties().get<TrajectoryExecutionInfo>("trajectory_execution_info");
-	t.execution_info = trajectory_execution_info;
-
 	if (trajectory())
 		trajectory()->getRobotTrajectoryMsg(t.trajectory);
 

msgs/CMakeLists.txt

@@ -18,7 +18,6 @@ set(msg_files
 	"msg/SubTrajectory.msg"
 	"msg/TaskDescription.msg"
 	"msg/TaskStatistics.msg"
-        "msg/TrajectoryExecutionInfo.msg"
 )
 
 set(srv_files

msgs/msg/SubTrajectory.msg

@@ -1,9 +1,6 @@
 # generic solution information
 SolutionInfo info
 
-# trajectory execution information, like controller configuration
-TrajectoryExecutionInfo execution_info
-
 # trajectory
 moveit_msgs/RobotTrajectory trajectory