Revert "Create service get_current_navigator"

nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp

@@ -27,7 +27,6 @@
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/create_timer_ros.h"
 #include "nav2_core/behavior_tree_navigator.hpp"
-#include "nav2_msgs/srv/get_string.hpp"
 #include "pluginlib/class_loader.hpp"
 
 namespace nav2_bt_navigator
@@ -86,9 +85,6 @@ class BtNavigator : public nav2_util::LifecycleNode
    */
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
 
-  void get_navigator_callback(const nav2_msgs::srv::GetString::Request::SharedPtr req,
-    const nav2_msgs::srv::GetString::Response::SharedPtr res);
-
   // To handle all the BT related execution
   pluginlib::ClassLoader<nav2_core::NavigatorBase> class_loader_;
   std::vector<pluginlib::UniquePtr<nav2_core::NavigatorBase>> navigators_;
@@ -106,9 +102,6 @@ class BtNavigator : public nav2_util::LifecycleNode
   // Spinning transform that can be used by the node
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
-
-  // Service to query current navigator
-  rclcpp::Service<nav2_msgs::srv::GetString>::SharedPtr get_navigator_srv_;
 };
 
 }  // namespace nav2_bt_navigator

nav2_bt_navigator/src/bt_navigator.cpp

@@ -174,11 +174,6 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
     }
   }
 
-  get_navigator_srv_ = create_service<nav2_msgs::srv::GetString>(
-    std::string(get_name()) + "/get_current_navigator",
-    std::bind(&BtNavigator::get_navigator_callback, this,
-      std::placeholders::_1, std::placeholders::_2));
-
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
@@ -241,14 +236,6 @@ BtNavigator::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-void
-BtNavigator::get_navigator_callback(const nav2_msgs::srv::GetString::Request::SharedPtr,
-  const nav2_msgs::srv::GetString::Response::SharedPtr res)
-{
-    res->data = plugin_muxer_.getCurrentNavigator();
-    res->success = true;
-}
-
 }  // namespace nav2_bt_navigator
 
 #include "rclcpp_components/register_node_macro.hpp"

nav2_core/include/nav2_core/behavior_tree_navigator.hpp

@@ -56,16 +56,6 @@ class NavigatorMuxer
   NavigatorMuxer()
   : current_navigator_(std::string("")) {}
 
-  /**
-   * @brief Get the name of the navigator currently in use
-   * @return string Name of the navigator, empty if not navigating
-   */
-  std::string getCurrentNavigator()
-  {
-    std::scoped_lock l(mutex_);
-    return current_navigator_;
-  }
-
   /**
    * @brief Get the navigator muxer state
    * @return bool If a navigator is in progress

nav2_msgs/CMakeLists.txt

@@ -30,7 +30,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ClearCostmapAroundRobot.srv"
   "srv/ClearEntireCostmap.srv"
   "srv/ManageLifecycleNodes.srv"
-  "srv/GetString.srv"
   "srv/LoadMap.srv"
   "srv/SaveMap.srv"
   "srv/SetInitialPose.srv"