Cleanup old internal API (#2346)

Author: saikishor

controller_manager/src/controller_manager.cpp

@@ -626,6 +626,7 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   params.clock = trigger_clock_;
   params.logger = this->get_logger();
   params.executor = executor_;
+  params.update_rate = static_cast<unsigned int>(params_->update_rate);
   if (!resource_manager_->load_and_initialize_components(params))
   {
     RCLCPP_WARN(

hardware_interface/src/resource_manager.cpp

@@ -234,14 +234,6 @@ class ResourceStorage
     return is_loaded;
   }
 
-  template <class HardwareT>
-  bool initialize_hardware(const HardwareInfo & hardware_info, HardwareT & hardware)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return initialize_hardware(params, hardware);
-  }
-
   template <class HardwareT>
   bool initialize_hardware(
     const hardware_interface::HardwareComponentParams & params, HardwareT & hardware)
@@ -1115,28 +1107,6 @@ class ResourceStorage
     }
   }
 
-  // TODO(destogl): Propagate "false" up, if happens in initialize_hardware
-  bool load_and_initialize_actuator(const HardwareInfo & hardware_info)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return load_and_initialize_actuator(params);
-  }
-
-  bool load_and_initialize_sensor(const HardwareInfo & hardware_info)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return load_and_initialize_sensor(params);
-  }
-
-  bool load_and_initialize_system(const HardwareInfo & hardware_info)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return load_and_initialize_system(params);
-  }
-
   bool load_and_initialize_actuator(const hardware_interface::HardwareComponentParams & params)
   {
     auto load_and_init_actuators = [&](auto & container)
@@ -1213,29 +1183,6 @@ class ResourceStorage
     return load_and_init_systems(systems_);
   }
 
-  void initialize_actuator(
-    std::unique_ptr<ActuatorInterface> actuator, const HardwareInfo & hardware_info)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return initialize_actuator(std::move(actuator), params);
-  }
-  void initialize_sensor(
-    std::unique_ptr<SensorInterface> sensor, const HardwareInfo & hardware_info)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return initialize_sensor(std::move(sensor), params);
-  }
-
-  void initialize_system(
-    std::unique_ptr<SystemInterface> system, const HardwareInfo & hardware_info)
-  {
-    hardware_interface::HardwareComponentParams params;
-    params.hardware_info = hardware_info;
-    return initialize_system(std::move(system), params);
-  }
-
   void initialize_actuator(
     std::unique_ptr<ActuatorInterface> actuator,
     const hardware_interface::HardwareComponentParams & params)