From 054a68718faf0e6bf13524d88b94978433189ce1 Mon Sep 17 00:00:00 2001
From: Carl Delsey <carl.r.delsey@intel.com>
Date: Wed, 6 Nov 2019 16:52:44 -0800
Subject: [PATCH] Remove dead code (#1328)
---
.../behavior_tree_engine.hpp | 7 -----
.../src/behavior_tree_engine.cpp | 31 -------------------
2 files changed, 38 deletions(-)
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
index 31e0b530..6d222c30 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
@@ -33,13 +33,6 @@ public:
BehaviorTreeEngine();
virtual ~BehaviorTreeEngine() {}
- BtStatus run(
- BT::Blackboard::Ptr & blackboard,
- const std::string & behavior_tree_xml,
- std::function<void()> onLoop,
- std::function<bool()> cancelRequested,
- std::chrono::milliseconds loopTimeout = std::chrono::milliseconds(10));
-
BtStatus run(
std::unique_ptr<BT::Tree> & tree,
std::function<void()> onLoop,
diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
index bd38d54e..9e905a65 100644
--- a/nav2_behavior_tree/src/behavior_tree_engine.cpp
+++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -63,37 +63,6 @@ BehaviorTreeEngine::BehaviorTreeEngine()
factory_.registerNodeType<nav2_behavior_tree::RecoveryNode>("RecoveryNode");
}
-BtStatus
-BehaviorTreeEngine::run(
- BT::Blackboard::Ptr & blackboard,
- const std::string & behavior_tree_xml,
- std::function<void()> onLoop,
- std::function<bool()> cancelRequested,
- std::chrono::milliseconds loopTimeout)
-{
- // Parse the input XML and create the corresponding Behavior Tree
- BT::Tree tree = buildTreeFromText(behavior_tree_xml, blackboard);
-
- rclcpp::WallRate loopRate(loopTimeout);
- BT::NodeStatus result = BT::NodeStatus::RUNNING;
-
- // Loop until something happens with ROS or the node completes
- while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) {
- if (cancelRequested()) {
- tree.root_node->halt();
- return BtStatus::CANCELED;
- }
-
- onLoop();
-
- result = tree.root_node->executeTick();
-
- loopRate.sleep();
- }
-
- return (result == BT::NodeStatus::SUCCESS) ? BtStatus::SUCCEEDED : BtStatus::FAILED;
-}
-
BtStatus
BehaviorTreeEngine::run(
std::unique_ptr<BT::Tree> & tree,
--
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