Revert "Cpp fixes"

This reverts commit c3a497c.
cyberbotics · Jan 17, 2023 · 8462d81 · 8462d81
1 parent c689352
commit 8462d81
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Showing 5 changed files with 2 additions and 7 deletions.
diff --git a/.github/workflows/tests_sources.yml b/.github/workflows/tests_sources.yml
@@ -42,4 +42,4 @@ jobs:
       run: |
         ${{ matrix.DEPENDENCIES_INSTALLATION }}
         pip install -r tests/sources/requirements.txt
-        python3 -m unittest discover -s tests/sources/
+        python3 -m unittest discover -s tests/sources/
diff --git a/webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp b/webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp
@@ -38,7 +38,6 @@
 namespace webots_ros2_control {
   class Ros2Control : public webots_ros2_driver::PluginInterface {
   public:
-    Ros2Control();
     void step() override;
     void init(webots_ros2_driver::WebotsNode *node, std::unordered_map<std::string, std::string> &parameters) override;
 

diff --git a/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp b/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp
@@ -54,7 +54,6 @@ namespace webots_ros2_control {
 
   class Ros2ControlSystem : public Ros2ControlSystemInterface {
   public:
-    Ros2ControlSystem();
     void init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) override;
 
 #if FOXY

diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
@@ -34,16 +34,14 @@ const double CONTROLLER_MANAGER_ALLOWED_SAMPLE_ERROR_MS = 1.0;
 
 namespace webots_ros2_control {
 
-  Ros2Control::Ros2Control() { mNode = NULL; }
-
   void Ros2Control::step() {
     const int nowMs = wb_robot_get_time() * 1000.0;
     const int periodMs = nowMs - mLastControlUpdateMs;
+    const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
     if (periodMs >= mControlPeriodMs) {
 #if FOXY
       mControllerManager->read();
 #else
-      const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
       mControllerManager->read(mNode->get_clock()->now(), dt);
 #endif
 

diff --git a/webots_ros2_control/src/Ros2ControlSystem.cpp b/webots_ros2_control/src/Ros2ControlSystem.cpp
@@ -28,7 +28,6 @@
 #include <webots/robot.h>
 
 namespace webots_ros2_control {
-  Ros2ControlSystem::Ros2ControlSystem() { mNode = NULL; }
   void Ros2ControlSystem::init(webots_ros2_driver::WebotsNode *node, const hardware_interface::HardwareInfo &info) {
     mNode = node;
     for (hardware_interface::ComponentInfo component : info.joints) {