removing clearable layer param (unused) (#4280)

ros-navigation · Apr 28, 2024 · 9f6b0dd · 9f6b0dd
1 parent 1f980a1
commit 9f6b0dd
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Showing 3 changed files with 0 additions and 6 deletions.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
@@ -67,7 +67,6 @@ class ClearCostmapService
 
   // Clearing parameters
   unsigned char reset_value_;
-  std::vector<std::string> clearable_layers_;
 
   // Server for clearing the costmap
   rclcpp::Service<nav2_msgs::srv::ClearCostmapExceptRegion>::SharedPtr clear_except_service_;

diff --git a/nav2_costmap_2d/src/clear_costmap_service.cpp b/nav2_costmap_2d/src/clear_costmap_service.cpp
@@ -40,8 +40,6 @@ ClearCostmapService::ClearCostmapService(
   logger_ = node->get_logger();
   reset_value_ = costmap_.getCostmap()->getDefaultValue();
 
-  node->get_parameter("clearable_layers", clearable_layers_);
-
   clear_except_service_ = node->create_service<ClearExceptRegion>(
     "clear_except_" + costmap_.getName(),
     std::bind(

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -109,8 +109,6 @@ void Costmap2DROS::init()
 {
   RCLCPP_INFO(get_logger(), "Creating Costmap");
 
-  std::vector<std::string> clearable_layers{"obstacle_layer", "voxel_layer", "range_layer"};
-
   declare_parameter("always_send_full_costmap", rclcpp::ParameterValue(false));
   declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
   declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
@@ -135,7 +133,6 @@ void Costmap2DROS::init()
   declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
   declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
   declare_parameter("use_maximum", rclcpp::ParameterValue(false));
-  declare_parameter("clearable_layers", rclcpp::ParameterValue(clearable_layers));
 }
 
 Costmap2DROS::~Costmap2DROS()