fix merge issue

Author: Thibault Poignonec

cartesian_vic_controller/src/cartesian_vic_controller.cpp

@@ -37,47 +37,6 @@ namespace cartesian_vic_controller
 
 controller_interface::CallbackReturn CartesianVicController::on_init()
 {
-<<<<<<< HEAD
-  // Try to retrieve urdf (used by kinematics / dynamics plugin)
-  std::string urdf_string;
-  get_node()->get_parameter("robot_description", urdf_string);
-  if (urdf_string.empty()) {
-    RCLCPP_ERROR(
-      get_node()->get_logger(),
-      "Could not find 'robot_description' parameter! Trying to retrieve URDF from param server...");
-    // TODO(tpoignonec): get URDF from param server
-    urdf_string = getUrdfFromServer();
-    if (urdf_string.empty()) {
-      RCLCPP_ERROR(
-        get_node()->get_logger(), "Could not retrieve URDF from param server!");
-      return controller_interface::CallbackReturn::ERROR;
-    } else {
-      rclcpp::Parameter robot_description_param("robot_description", urdf_string);
-      get_node()->set_parameter(robot_description_param);
-      // RCLCPP_INFO(get_node()->get_logger(), "URDF: %s", urdf_string.c_str());
-    }
-  }
-
-  // initialize controller config
-  try {
-    parameter_handler_ =
-      std::make_shared<cartesian_vic_controller::ParamListener>(get_node());
-    cartesian_vic_controller::Params parameters = parameter_handler_->get_params();
-    // number of joints in controllers is fixed after initialization
-    num_joints_ = parameters.joints.size();
-  } catch (const std::exception & e) {
-    RCLCPP_ERROR(
-      get_node()->get_logger(), "Exception thrown during init stage with message: %s \n", e.what());
-    return controller_interface::CallbackReturn::ERROR;
-  }
-
-  // allocate dynamic memory
-  measurement_data_ = MeasurementData(num_joints_);
-  joint_command_ = measurement_data_.get_joint_state();
-  last_commanded_joint_state_ = measurement_data_.get_joint_state();
-
-=======
->>>>>>> 8175fc1 (Major fixes before experimentation (#30))
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
@@ -207,8 +166,7 @@ controller_interface::CallbackReturn CartesianVicController::on_configure(
   // Try to retrieve urdf (used by kinematics / dynamics plugin)
   RCLCPP_INFO(
     get_node()->get_logger(), "Trying to retrieve 'robot_description' parameter...");
-  std::string urdf_string = auto_declare<std::string>(
-    "robot_description", this->get_robot_description());
+  std::string urdf_string = auto_declare<std::string>("robot_description", "");
   if (urdf_string.empty()) {
     RCLCPP_ERROR(
       get_node()->get_logger(),
@@ -771,22 +729,25 @@ bool CartesianVicController::is_command_interfaces_config_valid() const
     if (has_position_command_interface_ || has_velocity_command_interface_) {
       RCLCPP_ERROR(
         get_node()->get_logger(),
-        "Impedance control mode is enabled, but unsupported position or velocity command interfaces are specified!");
+        "Impedance control mode is enabled, but unsupported position or velocity"
+        " command interfaces are specified!");
       all_ok = false;
     }
   } else if (vic_->get_control_mode() == cartesian_vic_controller::ControlMode::ADMITTANCE) {
     // Check if claimed command interfaces are compatible with admittance control mode
     if (!has_position_command_interface_ && !has_velocity_command_interface_) {
       RCLCPP_ERROR(
         get_node()->get_logger(),
-        "Admittance control mode is enabled, but no position or velocity command interface are specified!");
+        "Admittance control mode is enabled, but no position or velocity command"
+        " interface are specified!");
       all_ok = false;
     }
 
     if (has_effort_command_interface_) {
       RCLCPP_ERROR(
         get_node()->get_logger(),
-        "Admittance control mode is enabled, but an unsupported effort command interface is specified!");
+        "Admittance control mode is enabled, but an unsupported effort command interface"
+        " is specified!");
       all_ok = false;
     }
   } else {