From ba98bf8e1959c169c2a666c0c8c1b55fc7394206 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Wed, 25 Sep 2019 07:21:41 +0200
Subject: [PATCH] Removed deprecated TODOs

We only support robot software versions 3.7+
---
 .../ur_rtde_driver/primary/robot_message/version_message.h      | 2 +-
 .../ur_rtde_driver/primary/robot_state/kinematics_info.h        | 1 -
 ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h       | 1 -
 ur_rtde_driver/src/ros/hardware_interface.cpp                   | 1 -
 4 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
index d552a93..a8b4ec9 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
@@ -74,7 +74,7 @@ public:
   uint8_t major_version_;
   uint8_t minor_version_;
   int32_t svn_version_;
-  int32_t build_number_;  // TODO Exists in version 3.3 above only
+  int32_t build_number_;
   std::string build_date_;
 };
 }  // namespace primary_interface
diff --git a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
index 4f8c480..4597659 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
@@ -85,7 +85,6 @@ public:
   uint32_t calibration_status_;  // According to the docs this should be uint8_t, but then I have 3 bytes left.
 };
 
-// TODO: Handle pre-3.6 as they don't have kinematics info
 }  // namespace primary_interface
 }  // namespace ur_driver
 
diff --git a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
index 00c3455..1d562dd 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
@@ -118,7 +118,6 @@ public:
   {
     if (data_.find(name) != data_.end())
     {
-      // TODO: Can we check this somehow?
       val = boost::strict_get<T>(data_[name]);
     }
     else
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 6e7db61..674a24a 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -396,7 +396,6 @@ uint32_t HardwareInterface ::getControlFrequency() const
   {
     return ur_driver_->getControlFrequency();
   }
-  // TODO: Do this nicer than throwing an exception
   throw std::runtime_error("ur_driver is not yet initialized");
 }