From b25d2ba318a15c234531eba360fc5b56491b42c9 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Tue, 10 Oct 2023 16:40:00 +0200
Subject: [PATCH] Remove display_motion_plans and publish_planning_requests
 properties (#489)

---
 core/python/bindings/src/solvers.cpp  |  2 --
 core/src/solvers/pipeline_planner.cpp | 12 ------------
 2 files changed, 14 deletions(-)

diff --git a/core/python/bindings/src/solvers.cpp b/core/python/bindings/src/solvers.cpp
index 6bc251a71..8c9b086d1 100644
--- a/core/python/bindings/src/solvers.cpp
+++ b/core/python/bindings/src/solvers.cpp
@@ -78,8 +78,6 @@ void export_solvers(py::module& m) {
 	    .property<double>("goal_joint_tolerance", "float: Tolerance for reaching joint goals")
 	    .property<double>("goal_position_tolerance", "float: Tolerance for reaching position goals")
 	    .property<double>("goal_orientation_tolerance", "float: Tolerance for reaching orientation goals")
-	    .property<bool>("display_motion_plans", "bool: Publish generated solutions via a topic")
-	    .property<bool>("publish_planning_requests", "bool: Publish motion planning requests via a topic")
 	    .def(py::init<const std::string&>(), "pipeline"_a = std::string("ompl"));
 
 	properties::class_<JointInterpolationPlanner, PlannerInterface>(
diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
index 0c2435320..d658951b6 100644
--- a/core/src/solvers/pipeline_planner.cpp
+++ b/core/src/solvers/pipeline_planner.cpp
@@ -85,12 +85,6 @@ PipelinePlanner::PipelinePlanner(
 	properties().declare<double>("goal_position_tolerance", 1e-4, "tolerance for reaching position goals");
 	properties().declare<double>("goal_orientation_tolerance", 1e-4, "tolerance for reaching orientation goals");
 	// Declare properties that configure the planning pipeline
-	properties().declare<bool>("display_motion_plans", false,
-	                           "publish generated solutions on topic " +
-	                               planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC);
-	properties().declare<bool>("publish_planning_requests", false,
-	                           "publish motion planning requests on topic " +
-	                               planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC);
 	properties().declare<std::unordered_map<std::string, std::string>>(
 	    "pipeline_id_planner_id_map", std::unordered_map<std::string, std::string>(),
 	    "Set of pipelines and planners used for planning");
@@ -144,12 +138,6 @@ void PipelinePlanner::init(const core::RobotModelConstPtr& robot_model) {
 		throw std::runtime_error(
 		    "Cannot initialize PipelinePlanner: Could not create any valid entries for planning pipeline maps!");
 	}
-
-	// Configure all pipelines according to the configuration in properties
-	for (auto const& name_pipeline_pair : planning_pipelines_) {
-		name_pipeline_pair.second->displayComputedMotionPlans(properties().get<bool>("display_motion_plans"));
-		name_pipeline_pair.second->publishReceivedRequests(properties().get<bool>("publish_planning_requests"));
-	}
 }
 
 bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,