refactor(cluster_merger): remove unused variable and rename topic (au…

…towarefoundation#8809) Signed-off-by: badai-nguyen <[email protected]>
anhnv3991 · Sep 10, 2024 · 14a499e · 14a499e
1 parent 5e18705
commit 14a499e
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Showing 3 changed files with 2 additions and 6 deletions.
diff --git a/perception/autoware_cluster_merger/launch/cluster_merger.launch.xml b/perception/autoware_cluster_merger/launch/cluster_merger.launch.xml
@@ -6,7 +6,7 @@
   <arg name="param_path" default="$(find-pkg-share autoware_cluster_merger)/config/cluster_merger.param.yaml"/>
   <!-- Node -->
   <node pkg="autoware_cluster_merger" exec="cluster_merger_node" name="autoware_cluster_merger" output="screen">
-    <remap from="~/output/clusters" to="$(var output/clusters)"/>
+    <remap from="output/clusters" to="$(var output/clusters)"/>
     <remap from="input/cluster0" to="$(var input/cluster0)"/>
     <remap from="input/cluster1" to="$(var input/cluster1)"/>
     <param from="$(var param_path)"/>

diff --git a/perception/autoware_cluster_merger/src/cluster_merger_node.cpp b/perception/autoware_cluster_merger/src/cluster_merger_node.cpp
@@ -37,7 +37,7 @@ ClusterMergerNode::ClusterMergerNode(const rclcpp::NodeOptions & node_options)
   sync_.registerCallback(std::bind(&ClusterMergerNode::objectsCallback, this, _1, _2));
 
   // Publisher
-  pub_objects_ = create_publisher<DetectedObjectsWithFeature>("~/output/clusters", rclcpp::QoS{1});
+  pub_objects_ = create_publisher<DetectedObjectsWithFeature>("output/clusters", rclcpp::QoS{1});
 }
 
 void ClusterMergerNode::objectsCallback(

diff --git a/perception/autoware_cluster_merger/src/cluster_merger_node.hpp b/perception/autoware_cluster_merger/src/cluster_merger_node.hpp
@@ -47,7 +47,6 @@ class ClusterMergerNode : public rclcpp::Node
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
-  rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_objects_{};
   message_filters::Subscriber<DetectedObjectsWithFeature> objects0_sub_;
   message_filters::Subscriber<DetectedObjectsWithFeature> objects1_sub_;
   typedef message_filters::sync_policies::ApproximateTime<
@@ -58,9 +57,6 @@ class ClusterMergerNode : public rclcpp::Node
 
   std::string output_frame_id_;
 
-  std::vector<rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr> sub_objects_array{};
-  std::shared_ptr<autoware::universe_utils::TransformListener> transform_listener_;
-
   void objectsCallback(
     const DetectedObjectsWithFeature::ConstSharedPtr & input_objects0_msg,
     const DetectedObjectsWithFeature::ConstSharedPtr & input_objects1_msg);