Revert "tmp modify for smoother"

This reverts commit a360bd0.

Author: TakaHoribe

planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp

@@ -39,7 +39,6 @@
 #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/bool_stamped.hpp"            // temporary
 #include "tier4_debug_msgs/msg/float32_stamped.hpp"         // temporary
 #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp"  // temporary
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"       // temporary
@@ -90,8 +89,6 @@ class MotionVelocitySmootherNode : public rclcpp::Node
   rclcpp::Subscription<Trajectory>::SharedPtr sub_current_trajectory_;
   rclcpp::Subscription<VelocityLimit>::SharedPtr sub_external_velocity_limit_;
   rclcpp::Subscription<OperationModeState>::SharedPtr sub_operation_mode_;
-  rclcpp::Subscription<tier4_debug_msgs::msg::BoolStamped>::SharedPtr sub_tmp_;
-  bool break_path_ = false;
 
   Odometry::ConstSharedPtr current_odometry_ptr_;  // current odometry
   AccelWithCovarianceStamped::ConstSharedPtr current_acceleration_ptr_;

planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp

@@ -72,11 +72,6 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions
     "~/input/operation_mode_state", 1,
     [this](const OperationModeState::ConstSharedPtr msg) { operation_mode_ = *msg; });
 
-  sub_tmp_ = create_subscription<tier4_debug_msgs::msg::BoolStamped>(
-    "/tmp/break_path", 1, [this](const tier4_debug_msgs::msg::BoolStamped::ConstSharedPtr msg) {
-      break_path_ = msg->data;
-    });
-
   // parameter update
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&MotionVelocitySmootherNode::onParameter, this, _1));
@@ -506,16 +501,8 @@ void MotionVelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstShar
     flipVelocity(output_resampled);
   }
 
-  if (break_path_) {
-    const size_t closest = findNearestIndexFromEgo(output_resampled);
-    TrajectoryPoints clipped;
-    clipped.insert(clipped.end(), output_resampled.begin(), output_resampled.begin() + closest);
-    publishTrajectory(clipped);
-  } else {
-    publishTrajectory(output_resampled);
-  }
-
   // publish message
+  publishTrajectory(output_resampled);
 
   // publish debug message
   publishStopDistance(output);