Removing unused files (#428)

nav2_behaviors/src/back_up_tmp.cpp

-// Copyright (c) 2018 Intel Corporation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cmath>
-#include <chrono>
-#include <ctime>
-#include <thread>
-#include <memory>
-
-#include "nav2_behaviors/back_up.hpp"
-
-using nav2_tasks::TaskStatus;
-using namespace std::chrono_literals;
-
-namespace nav2_behaviors
-{
-
-BackUp::BackUp()
-: Node("BackUp")
-{
-  RCLCPP_INFO(get_logger(), "Initializing the BackUp behavior");
-
-  // TODO(orduno) Pull values from param server or robot
-  max_linear_vel_ = 0.0;
-  min_linear_vel_ = 0.0;
-  linear_acc_lim_ = 0.0;
-  goal_tolerance_distance_ = 0.0;
-
-  auto temp_node = std::shared_ptr<rclcpp::Node>(this, [](auto) {});
-
-  robot_ = std::make_unique<nav2_robot::Robot>(temp_node);
-
-  vel_pub_ =
-    this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 1);
-
-  task_server_ = std::make_unique<nav2_tasks::BackUpTaskServer>(temp_node, false);
-  task_server_->setExecuteCallback(std::bind(&BackUp::backUp, this, std::placeholders::_1));
-
-  // Start listening for incoming BackUp task requests
-  task_server_->startWorkerThread();
-
-  RCLCPP_INFO(get_logger(), "Initialized the BackUp behavior");
-}
-
-BackUp::~BackUp()
-{
-  RCLCPP_INFO(get_logger(), "Shutting down the BackUp behavior");
-}
-
-nav2_tasks::TaskStatus BackUp::backUp(const nav2_tasks::BackUpCommand::SharedPtr command)
-{
-  RCLCPP_INFO(get_logger(), "Attempting to back up");
-
-  if (command->y != 0.0 || command->z != 0.0) {
-    RCLCPP_INFO(get_logger(), "Backing up in Y and Z not supported, "
-      "will only spin in Z.");
-  }
-
-  RCLCPP_INFO(get_logger(), "Currently only supported backing up by a fixed distance");
-  TaskStatus status = timedBackup();
-
-  nav2_tasks::BackUpResult result;
-  task_server_->setResult(result);
-
-  return status;
-}
-
-nav2_tasks::TaskStatus BackUp::timedBackup()
-{
-  auto start_time = std::chrono::system_clock::now();
-  auto time_since_msg = std::chrono::system_clock::now();
-
-  while (true) {
-    if (task_server_->cancelRequested()) {
-      RCLCPP_INFO(get_logger(), "Task cancelled");
-      task_server_->setCanceled();
-      return TaskStatus::CANCELED;
-    }
-
-    // TODO(orduno): For now, backing up is time based
-    auto duration = 3s;
-
-    // Log a message every second
-    auto current_time = std::chrono::system_clock::now();
-    if (current_time - time_since_msg >= 500ms) {
-      RCLCPP_INFO(get_logger(), "Backing up...");
-      time_since_msg = std::chrono::system_clock::now();
-    }
-
-    // Output control command
-    geometry_msgs::msg::Twist cmd_vel;
-    // TODO(orduno): assuming robot was moving fwd when it got stuck
-    cmd_vel.linear.x = -0.05;
-    cmd_vel.linear.y = 0.0;
-    cmd_vel.angular.z = 0.0;
-    vel_pub_->publish(cmd_vel);
-
-    if (current_time - start_time >= duration) {
-      cmd_vel.linear.x = 0.0;
-      vel_pub_->publish(cmd_vel);
-      RCLCPP_INFO(get_logger(), "Completed backing up");
-      break;
-    }
-  }
-  return TaskStatus::SUCCEEDED;
-}
-
-nav2_tasks::TaskStatus BackUp::controlledBackup()
-{
-  auto current_pose = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
-
-  if (!robot_->getCurrentPose(current_pose)) {
-    RCLCPP_ERROR(get_logger(), "Current robot pose is not available.");
-    return TaskStatus::FAILED;
-  }
-
-  // TODO(orduno): Implement controller for moving the robot by a given distance
-  //               starting from the current pose
-
-  RCLCPP_ERROR(get_logger(), "Back up controller not implement yet.");
-
-  return TaskStatus::FAILED;
-}
-
-}  // namespace nav2_behaviors