chore(behavior_path_planner): remove unnecessary debug publisher (#1690)

autowarefoundation · Aug 26, 2022 · 04fe796 · 04fe796
1 parent dd5144e
commit 04fe796
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Showing 2 changed files with 0 additions and 7 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -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);

diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -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);
 
@@ -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;