From 5bb2010e3be7dc116fe949b93dad3a1214407354 Mon Sep 17 00:00:00 2001
From: Stephanie Eng <stephanie.eng@picknik.ai>
Date: Mon, 25 Apr 2022 10:29:05 -0400
Subject: [PATCH] Removed refereces to manipulation

---
 moveit_ros/move_group/src/move_group.cpp             |  2 --
 moveit_ros/moveit_ros/package.xml                    |  3 ---
 moveit_ros/planning_interface/CMakeLists.txt         |  2 --
 .../src/move_group_interface.cpp                     | 12 ------------
 moveit_ros/planning_interface/package.xml            |  2 --
 moveit_runtime/package.xml                           |  3 ---
 6 files changed, 24 deletions(-)

diff --git a/moveit_ros/move_group/src/move_group.cpp b/moveit_ros/move_group/src/move_group.cpp
index c44bd7e47f..79506f4a77 100644
--- a/moveit_ros/move_group/src/move_group.cpp
+++ b/moveit_ros/move_group/src/move_group.cpp
@@ -59,8 +59,6 @@ static const char* DEFAULT_CAPABILITIES[] = {
    "move_group/MoveGroupKinematicsService",
    "move_group/MoveGroupExecuteTrajectoryAction",
    "move_group/MoveGroupMoveAction",
-    // TODO (ddengster) : wait for port for moveit_ros_manipulation package
-   //"move_group/MoveGroupPickPlaceAction",
    "move_group/MoveGroupPlanService",
    "move_group/MoveGroupQueryPlannersService",
    "move_group/MoveGroupStateValidationService",
diff --git a/moveit_ros/moveit_ros/package.xml b/moveit_ros/moveit_ros/package.xml
index 81b58f829e..89352462b6 100644
--- a/moveit_ros/moveit_ros/package.xml
+++ b/moveit_ros/moveit_ros/package.xml
@@ -31,9 +31,6 @@
   <exec_depend>moveit_ros_robot_interaction</exec_depend>
   <exec_depend>moveit_ros_planning_interface</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <!--
-  <exec_depend>moveit_ros_manipulation</exec_depend>
-  -->
   <exec_depend>moveit_ros_move_group</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index e2495ff5d8..413e131c03 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -10,7 +10,6 @@ find_package(moveit_msgs REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
 find_package(moveit_ros_warehouse REQUIRED)
-# find_package(moveit_ros_manipulation REQUIRED)
 find_package(moveit_ros_move_group REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
@@ -51,7 +50,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   moveit_core
   moveit_ros_planning
   moveit_ros_warehouse
-#  moveit_ros_manipulation
   moveit_ros_move_group
   tf2
   tf2_eigen
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index f8b17dc597..2a93fe0c71 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -62,10 +62,6 @@
 #include <moveit_msgs/srv/get_planner_params.hpp>
 #include <moveit_msgs/srv/set_planner_params.hpp>
 #include <moveit/utils/rclcpp_utils.h>
-// TODO(JafarAbdi): Enable once moveit_ros_manipulation is ported
-// #include <moveit_msgs/msg/place_location.hpp>
-// #include <moveit_msgs/action/pickup.hpp>
-// #include <moveit_msgs/action/place.hpp>
 
 #include <std_msgs/msg/string.hpp>
 #include <geometry_msgs/msg/transform_stamped.h>
@@ -163,14 +159,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     move_action_client_ = rclcpp_action::create_client<moveit_msgs::action::MoveGroup>(
         pnode_, rclcpp::names::append(opt_.move_group_namespace_, move_group::MOVE_ACTION));
     move_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());
-    // TODO(JafarAbdi): Enable once moveit_ros_manipulation is ported
-    // pick_action_client_ = rclcpp_action::create_client<moveit_msgs::action::Pickup>(
-    //        node_, move_group::PICKUP_ACTION);
-    //    pick_action_client_->wait_for_action_server(std::chrono::nanoseconds(timeout_for_servers.nanoseconds()));
-    //
-    //    place_action_client_ = rclcpp_action::create_client<moveit_msgs::action::Place>(
-    //        node_, move_group::PLACE_ACTION);
-    //    place_action_client_->wait_for_action_server(std::chrono::nanoseconds(timeout_for_servers.nanoseconds()));
     execute_action_client_ = rclcpp_action::create_client<moveit_msgs::action::ExecuteTrajectory>(
         pnode_, rclcpp::names::append(opt_.move_group_namespace_, move_group::EXECUTE_ACTION_NAME));
     execute_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());
diff --git a/moveit_ros/planning_interface/package.xml b/moveit_ros/planning_interface/package.xml
index 1989497ba9..7220332eaa 100644
--- a/moveit_ros/planning_interface/package.xml
+++ b/moveit_ros/planning_interface/package.xml
@@ -25,8 +25,6 @@
   <depend>moveit_ros_planning</depend>
   <depend>moveit_ros_warehouse</depend>
   <depend>moveit_ros_move_group</depend>
-  <!-- TODO(JafarAbdi): uncomment after porting moveit_ros_manipulation -->
-  <!--depend>moveit_ros_manipulation</depend-->
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
   <depend>rclcpp_action</depend>
diff --git a/moveit_runtime/package.xml b/moveit_runtime/package.xml
index 1dcc57195c..3e02eb81a2 100644
--- a/moveit_runtime/package.xml
+++ b/moveit_runtime/package.xml
@@ -18,9 +18,6 @@
   <exec_depend>moveit_core</exec_depend>
   <exec_depend>moveit_planners</exec_depend>
   <exec_depend>moveit_plugins</exec_depend>
-  <!--
-  <exec_depend>moveit_ros_manipulation</exec_depend>
-  -->
   <exec_depend>moveit_ros_move_group</exec_depend>
   <!--
   TODO(henningkayser): enable after #307 is merged