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chore(behavior_path_planner): remove unnecessary debug publisher #1690

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Aug 26, 2022
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chore(behavior_path_planner): remove unnecessary debug publisher #1690

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75baef5
chore(behavior_path_planner): remove unnecessary debug publisher
TakaHoribe Aug 25, 2022
e30b9fa
Merge branch 'main' into chore/remove-unused-debug-publisher
TakaHoribe Aug 25, 2022
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2 changes: 0 additions & 2 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,9 +146,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
const std::vector<std::shared_ptr<SceneModuleStatus>> & statuses) const;

// debug
rclcpp::Publisher<OccupancyGrid>::SharedPtr debug_drivable_area_publisher_;
rclcpp::Publisher<MarkerArray>::SharedPtr debug_drivable_area_lanelets_publisher_;
rclcpp::Publisher<Path>::SharedPtr debug_path_publisher_;
rclcpp::Publisher<AvoidanceDebugMsgArray>::SharedPtr debug_avoidance_msg_array_publisher_;
rclcpp::Publisher<MarkerArray>::SharedPtr debug_marker_publisher_;
void publishDebugMarker(const std::vector<MarkerArray> & debug_markers);
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5 changes: 0 additions & 5 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -65,8 +65,6 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
turn_signal_publisher_ =
create_publisher<TurnIndicatorsCommand>("~/output/turn_indicators_cmd", 1);
hazard_signal_publisher_ = create_publisher<HazardLightsCommand>("~/output/hazard_lights_cmd", 1);
debug_drivable_area_publisher_ = create_publisher<OccupancyGrid>("~/debug/drivable_area", 1);
debug_path_publisher_ = create_publisher<Path>("~/debug/path_for_visualize", 1);
debug_avoidance_msg_array_publisher_ =
create_publisher<AvoidanceDebugMsgArray>("~/debug/avoidance_debug_message_array", 1);

Expand Down Expand Up @@ -578,9 +576,6 @@ void BehaviorPathPlannerNode::run()

path_candidate_publisher_->publish(util::toPath(*path_candidate));

// debug_path_publisher_->publish(util::toPath(path));
debug_drivable_area_publisher_->publish(path->drivable_area);

// for turn signal
{
TurnIndicatorsCommand turn_signal;
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