Skip to content

Commit 48c5fe5

Browse files
satoshi-otasatoshi-ota
committed
Revert "feat: add published_time publisher debug to packages (#6490)"
This reverts commit 7f36c52.
1 parent 70eb8cf commit 48c5fe5

File tree

57 files changed

+6
-153
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

57 files changed

+6
-153
lines changed

‎common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp

+2-3
Original file line numberDiff line numberDiff line change
@@ -37,8 +37,7 @@ class PublishedTimePublisher
3737
{
3838
}
3939

40-
void publish_if_subscribed(
41-
const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
40+
void publish(const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
4241
{
4342
const auto & gid_key = publisher->get_gid();
4443

@@ -58,7 +57,7 @@ class PublishedTimePublisher
5857
}
5958
}
6059

61-
void publish_if_subscribed(
60+
void publish(
6261
const rclcpp::PublisherBase::ConstSharedPtr & publisher, const std_msgs::msg::Header & header)
6362
{
6463
const auto & gid_key = publisher->get_gid();

‎control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,6 @@
2828

2929
#include <Eigen/Core>
3030
#include <Eigen/Geometry>
31-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
3231

3332
#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
3433
#include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
@@ -122,8 +121,6 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
122121

123122
std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
124123

125-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
126-
127124
void publishProcessingTime(
128125
const double t_ms, const rclcpp::Publisher<Float64Stamped>::SharedPtr pub);
129126
StopWatch<std::chrono::milliseconds> stop_watch_;

‎control/trajectory_follower_node/package.xml

-1
Original file line numberDiff line numberDiff line change
@@ -30,7 +30,6 @@
3030
<depend>pure_pursuit</depend>
3131
<depend>rclcpp</depend>
3232
<depend>rclcpp_components</depend>
33-
<depend>tier4_autoware_utils</depend>
3433
<depend>trajectory_follower_base</depend>
3534
<depend>vehicle_info_util</depend>
3635
<depend>visualization_msgs</depend>

‎control/trajectory_follower_node/src/controller_node.cpp

+1-4
Original file line numberDiff line numberDiff line change
@@ -91,8 +91,6 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control
9191
}
9292

9393
logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
94-
95-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
9694
}
9795

9896
Controller::LateralControllerMode Controller::getLateralControllerMode(
@@ -233,8 +231,7 @@ void Controller::callbackTimerControl()
233231
out.longitudinal = lon_out.control_cmd;
234232
control_cmd_pub_->publish(out);
235233

236-
// 6. publish debug
237-
published_time_publisher_->publish_if_subscribed(control_cmd_pub_, out.stamp);
234+
// 6. publish debug marker
238235
publishDebugMarker(*input_data, lat_out);
239236
}
240237

‎control/vehicle_cmd_gate/package.xml

-1
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,6 @@
2828
<depend>rclcpp_components</depend>
2929
<depend>std_srvs</depend>
3030
<depend>tier4_api_utils</depend>
31-
<depend>tier4_autoware_utils</depend>
3231
<depend>tier4_control_msgs</depend>
3332
<depend>tier4_debug_msgs</depend>
3433
<depend>tier4_external_api_msgs</depend>

‎control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp

-4
Original file line numberDiff line numberDiff line change
@@ -242,8 +242,6 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
242242
this, get_clock(), period_ns, std::bind(&VehicleCmdGate::publishStatus, this));
243243

244244
logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
245-
246-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
247245
}
248246

249247
bool VehicleCmdGate::isHeartbeatTimeout(
@@ -458,8 +456,6 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)
458456
// Publish commands
459457
vehicle_cmd_emergency_pub_->publish(vehicle_cmd_emergency);
460458
control_cmd_pub_->publish(filtered_commands.control);
461-
published_time_publisher_->publish_if_subscribed(
462-
control_cmd_pub_, filtered_commands.control.stamp);
463459
adapi_pause_->publish();
464460
moderate_stop_interface_->publish();
465461

‎control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,6 @@
2323
#include <diagnostic_updater/diagnostic_updater.hpp>
2424
#include <motion_utils/vehicle/vehicle_state_checker.hpp>
2525
#include <rclcpp/rclcpp.hpp>
26-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2726
#include <vehicle_cmd_gate/msg/is_filter_activated.hpp>
2827
#include <vehicle_info_util/vehicle_info_util.hpp>
2928

@@ -249,8 +248,6 @@ class VehicleCmdGate : public rclcpp::Node
249248
void publishMarkers(const IsFilterActivated & filter_activated);
250249

251250
std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
252-
253-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
254251
};
255252

256253
} // namespace vehicle_cmd_gate

‎perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp

-4
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,10 @@
1616
#define DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_
1717

1818
#include <rclcpp/rclcpp.hpp>
19-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2019

2120
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
2221
#include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
2322

24-
#include <memory>
25-
2623
namespace detected_object_feature_remover
2724
{
2825
using autoware_auto_perception_msgs::msg::DetectedObjects;
@@ -36,7 +33,6 @@ class DetectedObjectFeatureRemover : public rclcpp::Node
3633
private:
3734
rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_;
3835
rclcpp::Publisher<DetectedObjects>::SharedPtr pub_;
39-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
4036
void objectCallback(const DetectedObjectsWithFeature::ConstSharedPtr input);
4137
void convert(const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs);
4238
};

‎perception/detected_object_feature_remover/package.xml

-1
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,6 @@
1313
<depend>autoware_auto_perception_msgs</depend>
1414
<depend>rclcpp</depend>
1515
<depend>rclcpp_components</depend>
16-
<depend>tier4_autoware_utils</depend>
1716
<depend>tier4_perception_msgs</depend>
1817

1918
<test_depend>ament_cmake_ros</test_depend>

‎perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,6 @@ DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOpt
2323
pub_ = this->create_publisher<DetectedObjects>("~/output", rclcpp::QoS(1));
2424
sub_ = this->create_subscription<DetectedObjectsWithFeature>(
2525
"~/input", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1));
26-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
2726
}
2827

2928
void DetectedObjectFeatureRemover::objectCallback(
@@ -32,7 +31,6 @@ void DetectedObjectFeatureRemover::objectCallback(
3231
DetectedObjects output;
3332
convert(*input, output);
3433
pub_->publish(output);
35-
published_time_publisher_->publish_if_subscribed(pub_, output.header.stamp);
3634
}
3735

3836
void DetectedObjectFeatureRemover::convert(

‎perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,6 @@
2020
#include <rclcpp/rclcpp.hpp>
2121
#include <tier4_autoware_utils/geometry/geometry.hpp>
2222
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
23-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2423

2524
#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
2625
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
@@ -69,8 +68,6 @@ class ObjectLaneletFilterNode : public rclcpp::Node
6968
bool isPolygonOverlapLanelets(const Polygon2d &, const lanelet::ConstLanelets &);
7069
geometry_msgs::msg::Polygon setFootprint(
7170
const autoware_auto_perception_msgs::msg::DetectedObject &);
72-
73-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
7471
};
7572

7673
} // namespace object_lanelet_filter

‎perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp

-4
Original file line numberDiff line numberDiff line change
@@ -19,15 +19,13 @@
1919

2020
#include <rclcpp/rclcpp.hpp>
2121
#include <tier4_autoware_utils/geometry/geometry.hpp>
22-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2322

2423
#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
2524
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
2625

2726
#include <tf2_ros/buffer.h>
2827
#include <tf2_ros/transform_listener.h>
2928

30-
#include <memory>
3129
#include <string>
3230

3331
namespace object_position_filter
@@ -53,8 +51,6 @@ class ObjectPositionFilterNode : public rclcpp::Node
5351
float lower_bound_y_;
5452
utils::FilterTargetLabel filter_target_;
5553
bool isObjectInBounds(const autoware_auto_perception_msgs::msg::DetectedObject & object) const;
56-
57-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
5854
};
5955

6056
} // namespace object_position_filter

‎perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp

-2
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@
2121

2222
#include <rclcpp/rclcpp.hpp>
2323
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
24-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2524

2625
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
2726
#include <sensor_msgs/msg/point_cloud2.hpp>
@@ -149,7 +148,6 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
149148
std::shared_ptr<Debugger> debugger_;
150149
bool using_2d_validator_;
151150
std::unique_ptr<Validator> validator_;
152-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
153151

154152
private:
155153
void onObjectsAndObstaclePointCloud(

‎perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp

-2
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,6 @@
1919
#include <opencv2/imgproc/imgproc.hpp>
2020
#include <opencv2/opencv.hpp>
2121
#include <rclcpp/rclcpp.hpp>
22-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2322

2423
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
2524
#include <nav_msgs/msg/occupancy_grid.hpp>
@@ -43,7 +42,6 @@ class OccupancyGridBasedValidator : public rclcpp::Node
4342
message_filters::Subscriber<nav_msgs::msg::OccupancyGrid> occ_grid_sub_;
4443
tf2_ros::Buffer tf_buffer_;
4544
tf2_ros::TransformListener tf_listener_;
46-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
4745

4846
typedef message_filters::sync_policies::ApproximateTime<
4947
autoware_auto_perception_msgs::msg::DetectedObjects, nav_msgs::msg::OccupancyGrid>

‎perception/detected_object_validation/src/object_lanelet_filter.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,6 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod
5555

5656
debug_publisher_ =
5757
std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "object_lanelet_filter");
58-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
5958
}
6059

6160
void ObjectLaneletFilterNode::mapCallback(
@@ -120,7 +119,6 @@ void ObjectLaneletFilterNode::objectCallback(
120119
++index;
121120
}
122121
object_pub_->publish(output_object_msg);
123-
published_time_publisher_->publish_if_subscribed(object_pub_, output_object_msg.header.stamp);
124122

125123
// Publish debug info
126124
const double pipeline_latency =

‎perception/detected_object_validation/src/object_position_filter.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -42,7 +42,6 @@ ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & n
4242
"input/object", rclcpp::QoS{1}, std::bind(&ObjectPositionFilterNode::objectCallback, this, _1));
4343
object_pub_ = this->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
4444
"output/object", rclcpp::QoS{1});
45-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
4645
}
4746

4847
void ObjectPositionFilterNode::objectCallback(
@@ -66,7 +65,6 @@ void ObjectPositionFilterNode::objectCallback(
6665
}
6766

6867
object_pub_->publish(output_object_msg);
69-
published_time_publisher_->publish_if_subscribed(object_pub_, output_object_msg.header.stamp);
7068
}
7169

7270
bool ObjectPositionFilterNode::isObjectInBounds(

‎perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -309,7 +309,6 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator(
309309

310310
const bool enable_debugger = declare_parameter<bool>("enable_debugger", false);
311311
if (enable_debugger) debugger_ = std::make_shared<Debugger>(this);
312-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
313312
}
314313
void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
315314
const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects,
@@ -348,7 +347,6 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
348347
}
349348

350349
objects_pub_->publish(output);
351-
published_time_publisher_->publish_if_subscribed(objects_pub_, output.header.stamp);
352350
if (debugger_) {
353351
debugger_->publishRemovedObjects(removed_objects);
354352
debugger_->publishNeighborPointcloud(input_obstacle_pointcloud->header);

‎perception/detected_object_validation/src/occupancy_grid_based_validator.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -52,7 +52,6 @@ OccupancyGridBasedValidator::OccupancyGridBasedValidator(const rclcpp::NodeOptio
5252

5353
mean_threshold_ = declare_parameter<float>("mean_threshold", 0.6);
5454
enable_debug_ = declare_parameter<bool>("enable_debug", false);
55-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
5655
}
5756

5857
void OccupancyGridBasedValidator::onObjectsAndOccGrid(
@@ -86,7 +85,6 @@ void OccupancyGridBasedValidator::onObjectsAndOccGrid(
8685
}
8786

8887
objects_pub_->publish(output);
89-
published_time_publisher_->publish_if_subscribed(objects_pub_, output.header.stamp);
9088

9189
if (enable_debug_) showDebugImage(*input_occ_grid, transformed_objects, occ_grid);
9290
}

‎perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,6 @@
2323
#include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
2424
#include <rclcpp/rclcpp.hpp>
2525
#include <shape_estimation/shape_estimator.hpp>
26-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2726

2827
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
2928
#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
@@ -84,8 +83,6 @@ class DetectionByTracker : public rclcpp::Node
8483

8584
detection_by_tracker::utils::TrackerIgnoreLabel tracker_ignore_;
8685

87-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
88-
8986
void setMaxSearchRange();
9087

9188
void onObjects(

‎perception/detection_by_tracker/src/detection_by_tracker_core.cpp

-3
Original file line numberDiff line numberDiff line change
@@ -177,7 +177,6 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options)
177177
cluster_ = std::make_shared<euclidean_cluster::VoxelGridBasedEuclideanCluster>(
178178
false, 10, 10000, 0.7, 0.3, 0);
179179
debugger_ = std::make_shared<Debugger>(this);
180-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
181180
}
182181

183182
void DetectionByTracker::setMaxSearchRange()
@@ -222,7 +221,6 @@ void DetectionByTracker::onObjects(
222221
!object_recognition_utils::transformObjects(
223222
objects, input_msg->header.frame_id, tf_buffer_, transformed_objects)) {
224223
objects_pub_->publish(detected_objects);
225-
published_time_publisher_->publish_if_subscribed(objects_pub_, detected_objects.header.stamp);
226224
return;
227225
}
228226
// to simplify post processes, convert tracked_objects to DetectedObjects message.
@@ -253,7 +251,6 @@ void DetectionByTracker::onObjects(
253251
}
254252

255253
objects_pub_->publish(detected_objects);
256-
published_time_publisher_->publish_if_subscribed(objects_pub_, detected_objects.header.stamp);
257254
debugger_->publishProcessingTime();
258255
}
259256

‎perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,6 @@
2121
#include <lidar_centerpoint/detection_class_remapper.hpp>
2222
#include <rclcpp/rclcpp.hpp>
2323
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
24-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2524
#include <tier4_autoware_utils/system/stop_watch.hpp>
2625

2726
#include <autoware_auto_perception_msgs/msg/detected_object_kinematics.hpp>
@@ -64,8 +63,6 @@ class LidarCenterPointNode : public rclcpp::Node
6463
std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
6564
nullptr};
6665
std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
67-
68-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
6966
};
7067

7168
} // namespace centerpoint

‎perception/lidar_centerpoint/src/node.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -126,7 +126,6 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
126126
RCLCPP_INFO(this->get_logger(), "TensorRT engine is built and shutdown node.");
127127
rclcpp::shutdown();
128128
}
129-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
130129
}
131130

132131
void LidarCenterPointNode::pointCloudCallback(
@@ -164,7 +163,6 @@ void LidarCenterPointNode::pointCloudCallback(
164163

165164
if (objects_sub_count > 0) {
166165
objects_pub_->publish(output_msg);
167-
published_time_publisher_->publish_if_subscribed(objects_pub_, output_msg.header.stamp);
168166
}
169167

170168
// add processing time for debug

‎perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,6 @@
2222

2323
#include <rclcpp/rclcpp.hpp>
2424
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
25-
#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
2625
#include <tier4_autoware_utils/ros/transform_listener.hpp>
2726
#include <tier4_autoware_utils/ros/uuid_helper.hpp>
2827
#include <tier4_autoware_utils/system/stop_watch.hpp>
@@ -200,8 +199,6 @@ class MapBasedPredictionNode : public rclcpp::Node
200199
std::vector<double> distance_set_for_no_intention_to_walk_;
201200
std::vector<double> timeout_set_for_no_intention_to_walk_;
202201

203-
std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
204-
205202
// Member Functions
206203
void mapCallback(const HADMapBin::ConstSharedPtr msg);
207204
void trafficSignalsCallback(const TrafficSignalArray::ConstSharedPtr msg);

‎perception/map_based_prediction/src/map_based_prediction_node.cpp

-2
Original file line numberDiff line numberDiff line change
@@ -811,7 +811,6 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_
811811
processing_time_publisher_ =
812812
std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "map_based_prediction");
813813

814-
published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
815814
set_param_res_ = this->add_on_set_parameters_callback(
816815
std::bind(&MapBasedPredictionNode::onParam, this, std::placeholders::_1));
817816

@@ -1113,7 +1112,6 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
11131112

11141113
// Publish Results
11151114
pub_objects_->publish(output);
1116-
published_time_publisher_->publish_if_subscribed(pub_objects_, output.header.stamp);
11171115
pub_debug_markers_->publish(debug_markers);
11181116
const auto processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
11191117
const auto cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);

0 commit comments

Comments
 (0)