From 1c09ef5fc664fbe5405044624e5736b5ac457495 Mon Sep 17 00:00:00 2001
From: methylDragon <methylDragon@google.com>
Date: Mon, 23 Oct 2023 17:01:02 -0700
Subject: [PATCH] Remove internal cache node

Signed-off-by: methylDragon <methylDragon@gmail.com>
---
 nexus_motion_planner/src/motion_planner_server.cpp | 5 -----
 nexus_motion_planner/src/motion_planner_server.hpp | 3 ---
 2 files changed, 8 deletions(-)

diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp
index c829ecd..ae08f2f 100644
--- a/nexus_motion_planner/src/motion_planner_server.cpp
+++ b/nexus_motion_planner/src/motion_planner_server.cpp
@@ -320,11 +320,6 @@ MotionPlannerServer::~MotionPlannerServer()
   {
     _spin_thread.join();
   }
-
-  if (_cache_spin_thread.joinable())
-  {
-    _cache_spin_thread.join();
-  }
 }
 
 //==============================================================================
diff --git a/nexus_motion_planner/src/motion_planner_server.hpp b/nexus_motion_planner/src/motion_planner_server.hpp
index ee0e714..9032bf4 100644
--- a/nexus_motion_planner/src/motion_planner_server.hpp
+++ b/nexus_motion_planner/src/motion_planner_server.hpp
@@ -99,9 +99,6 @@ class MotionPlannerServer : public rclcpp_lifecycle::LifecycleNode
   rclcpp::Node::SharedPtr _internal_node;
   std::thread _spin_thread;
 
-  rclcpp::Node::SharedPtr _internal_cache_node;
-  std::thread _cache_spin_thread;
-
   // MoveIt planning
   std::vector<std::string> _manipulators;
   bool _use_move_group_interfaces;