Mergify/bp/humble/pr 3419 (#3458)

* resolve merge conflicts for humble backport

* auto-format using clang-format

Author: ashwinsnambiar

moveit_plugins/moveit_ros_control_interface/README.md

@@ -22,14 +22,9 @@ In your MoveIt launch file (e.g. `ROBOT_moveit_config/launch/ROBOT_moveit_contro
 <param name="moveit_controller_manager" value="moveit_ros_control_interface::Ros2ControlManager" />
 ```
 
-<<<<<<< HEAD
-And make sure to set the `ros_control_namespace` parameter to the namespace (without the /controller_manager/ part) of the ros_control-based node you like to interface.
-If you are using the `moveit_setup_assistent` you can add it to `ROBOT_moveit_config/config/moveit_controllers.yaml`, e.g.:
-=======
 Make sure to set the `ros_control_namespace` parameter to the namespace (without the /controller_manager/ part) of the ros_control-based node you like to interface.
 Also, the timeout in seconds for the service call to the controller can be changed from the default value, by setting the `controller_service_call_timeout` parameter.
 If you are using `moveit_setup_assistant`, you can add it to `ROBOT_moveit_config/config/moveit_controllers.yaml`, e.g.:
->>>>>>> 64e934ff4 (ROS Parameter for service call timeout for ros_control controllers (#3419))
 ```
 ros_control_namespace: /ROS_CONTROL_NODE
 controller_service_call_timeout: 5.0

moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

@@ -59,19 +59,8 @@ static const rclcpp::Duration CONTROLLER_INFORMATION_VALIDITY_AGE = rclcpp::Dura
 
 namespace moveit_ros_control_interface
 {
-<<<<<<< HEAD
-=======
 static constexpr double DEFAULT_SERVICE_CALL_TIMEOUT = 3.0;
 
-namespace
-{
-rclcpp::Logger getLogger()
-{
-  return moveit::getLogger("moveit.plugins.ros_control_interface");
-}
-}  // namespace
-
->>>>>>> 64e934ff4 (ROS Parameter for service call timeout for ros_control controllers (#3419))
 /**
  * \brief Get joint name from resource name reported by ros2_control, since claimed_interfaces return by ros2_control
  * will have the interface name as suffix joint_name/INTERFACE_TYPE
@@ -195,15 +184,9 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
     auto result_future = list_controllers_service_->async_send_request(request);
     if (result_future.wait_for(service_call_timeout_) == std::future_status::timeout)
     {
-<<<<<<< HEAD
       RCLCPP_WARN_STREAM(LOGGER, "Failed to read controllers from " << list_controllers_service_->get_service_name()
-                                                                    << " within " << SERVICE_CALL_TIMEOUT
+                                                                    << " within " << service_call_timeout_.count()
                                                                     << " seconds");
-=======
-      RCLCPP_WARN_STREAM(getLogger(), "Failed to read controllers from "
-                                          << list_controllers_service_->get_service_name() << " within "
-                                          << service_call_timeout_.count() << " seconds");
->>>>>>> 64e934ff4 (ROS Parameter for service call timeout for ros_control controllers (#3419))
       return;
     }
 
@@ -337,7 +320,7 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
     }
     service_call_timeout_ = std::chrono::duration<double>(timeout_seconds);
 
-    RCLCPP_INFO_STREAM(getLogger(), "Using service call timeout " << service_call_timeout_.count() << " seconds");
+    RCLCPP_INFO_STREAM(LOGGER, "Using service call timeout " << service_call_timeout_.count() << " seconds");
 
     list_controllers_service_ = node_->create_client<controller_manager_msgs::srv::ListControllers>(
         getAbsName("controller_manager/list_controllers"));
@@ -557,15 +540,9 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
       auto result_future = switch_controller_service_->async_send_request(request);
       if (result_future.wait_for(service_call_timeout_) == std::future_status::timeout)
       {
-<<<<<<< HEAD
         RCLCPP_ERROR_STREAM(LOGGER, "Couldn't switch controllers at " << switch_controller_service_->get_service_name()
-                                                                      << " within " << SERVICE_CALL_TIMEOUT
+                                                                      << " within " << service_call_timeout_.count()
                                                                       << " seconds");
-=======
-        RCLCPP_ERROR_STREAM(getLogger(), "Couldn't switch controllers at "
-                                             << switch_controller_service_->get_service_name() << " within "
-                                             << service_call_timeout_.count() << " seconds");
->>>>>>> 64e934ff4 (ROS Parameter for service call timeout for ros_control controllers (#3419))
         return false;
       }
       discover(true);