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fix: Remove check for reference_interfaces_ size in export_reference_… #2722

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fix: Remove check for reference_interfaces_ size in export_reference_… #2722

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14 changes: 0 additions & 14 deletions controller_interface/src/chainable_controller_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,20 +125,6 @@ ChainableControllerInterface::export_reference_interfaces()
exported_reference_interface_names_.clear();
ordered_exported_reference_interfaces_.clear();

// BEGIN (Handle export change): for backward compatibility
// check if the "reference_interfaces_" variable is resized to number of interfaces
if (reference_interfaces_.size() != reference_interfaces.size())
{
std::string error_msg = fmt::format(
FMT_COMPILE(
"The internal storage for reference values 'reference_interfaces_' variable has size '{}', "
"but it is expected to have the size '{}' equal to the number of exported reference "
"interfaces. Please correct and recompile the controller with name '{}' and try again."),
reference_interfaces_.size(), reference_interfaces.size(), get_node()->get_name());
throw std::runtime_error(error_msg);
}
// END

// check if the names of the reference interfaces begin with the controller's name
const auto ref_interface_size = reference_interfaces.size();
for (auto & interface : reference_interfaces)
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