From 013130779ec8cf8977f4efc9430b40897630a3dc Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Fri, 10 Jul 2026 13:24:41 +0200
Subject: [PATCH] refactor(hangar_sim): drop dead MoveIt mecanum
 controller-handle shim

The MoveIt controller-manager plugin layer is removed in moveit_pro
(#15791); hangar_sim's mecanum ControllerHandleAllocator plugin and its
dependency on moveit_studio_plugins::dummy_controller_handle_plugin are
now dead. Controller switching goes through the SwitchController Behavior
against ros2_control directly, and the clearpath mecanum drive controller
is a pure ros2_control ChainableControllerInterface with no MoveIt shim.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
---
 src/hangar_sim/CMakeLists.txt                      |  8 --------
 .../moveit_mecanum_drive_controller_plugins.xml    | 14 --------------
 2 files changed, 22 deletions(-)
 delete mode 100644 src/hangar_sim/moveit_mecanum_drive_controller_plugins.xml

diff --git a/src/hangar_sim/CMakeLists.txt b/src/hangar_sim/CMakeLists.txt
index 694e4a4dc..7c7e73d92 100644
--- a/src/hangar_sim/CMakeLists.txt
+++ b/src/hangar_sim/CMakeLists.txt
@@ -3,8 +3,6 @@ project(hangar_sim)
 
 find_package(ament_cmake REQUIRED)
 find_package(picknik_accessories REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(moveit_studio_plugins REQUIRED)
 
 install(
   DIRECTORY
@@ -19,18 +17,12 @@ install(
     share/${PROJECT_NAME}
 )
 
-pluginlib_export_plugin_description_file(
-        moveit_ros_control_interface moveit_mecanum_drive_controller_plugins.xml)
-
 install(PROGRAMS
   script/odometry_joint_state_publisher.py
   script/odom_qos_relay.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
-install(IMPORTED_RUNTIME_ARTIFACTS moveit_studio_plugins::dummy_controller_handle_plugin LIBRARY DESTINATION
-        lib)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
diff --git a/src/hangar_sim/moveit_mecanum_drive_controller_plugins.xml b/src/hangar_sim/moveit_mecanum_drive_controller_plugins.xml
deleted file mode 100644
index 1874cae67..000000000
--- a/src/hangar_sim/moveit_mecanum_drive_controller_plugins.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8" ?>
-<library path="dummy_controller_handle_plugin">
-  <class
-    name="clearpath_mecanum_drive_controller/MecanumDriveController"
-    type="moveit_studio_ros_control_interface::DummyControllerAllocator"
-    base_class_type="moveit_ros_control_interface::ControllerHandleAllocator"
-  >
-    <description>
-      A very minimal controller handle allocator plugin to allow the
-      MecanumDriveController to be enabled and disabled through the MoveIt
-      controller manager.
-    </description>
-  </class>
-</library>