remove problematic option

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

Author: danielsanchezaran

control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml

@@ -3,7 +3,6 @@
     publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
-    crop_pointcloud_with_path_footprint: true
     path_footprint_extra_margin: 1.0
     detection_range_min_height: 0.0
     detection_range_max_height_margin: 0.0

control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp

@@ -185,7 +185,6 @@ class AEB : public rclcpp::Node
   bool publish_debug_pointcloud_;
   bool use_predicted_trajectory_;
   bool use_imu_path_;
-  bool crop_pointcloud_with_path_footprint_;
   double path_footprint_extra_margin_;
   double detection_range_min_height_;
   double detection_range_max_height_margin_;

control/autonomous_emergency_braking/src/node.cpp

@@ -129,8 +129,6 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
   publish_debug_pointcloud_ = declare_parameter<bool>("publish_debug_pointcloud");
   use_predicted_trajectory_ = declare_parameter<bool>("use_predicted_trajectory");
   use_imu_path_ = declare_parameter<bool>("use_imu_path");
-  crop_pointcloud_with_path_footprint_ =
-    declare_parameter<bool>("crop_pointcloud_with_path_footprint");
   path_footprint_extra_margin_ = declare_parameter<double>("path_footprint_extra_margin");
   detection_range_min_height_ = declare_parameter<double>("detection_range_min_height");
   detection_range_max_height_margin_ =
@@ -334,11 +332,9 @@ bool AEB::checkCollision(MarkerArray & debug_markers)
     const auto ego_path = generateEgoPath(current_v, current_w);
 
     // Crop out Pointcloud using an extra wide ego path
-    if (crop_pointcloud_with_path_footprint_) {
-      const auto expanded_ego_polys =
-        generatePathFootprint(ego_path, expand_width_ + path_footprint_extra_margin_);
-      cropPointCloudWithEgoFootprintPath(expanded_ego_polys);
-    }
+    const auto expanded_ego_polys =
+      generatePathFootprint(ego_path, expand_width_ + path_footprint_extra_margin_);
+    cropPointCloudWithEgoFootprintPath(expanded_ego_polys);
 
     std::vector<ObjectData> objects_from_point_clusters;
     const auto ego_polys = generatePathFootprint(ego_path, expand_width_);
@@ -366,11 +362,9 @@ bool AEB::checkCollision(MarkerArray & debug_markers)
       const auto & predicted_path = predicted_path_opt.value();
 
       // Crop out Pointcloud using an extra wide ego path
-      if (crop_pointcloud_with_path_footprint_) {
-        const auto expanded_ego_polys =
-          generatePathFootprint(predicted_path, expand_width_ + path_footprint_extra_margin_);
-        cropPointCloudWithEgoFootprintPath(expanded_ego_polys);
-      }
+      const auto expanded_ego_polys =
+        generatePathFootprint(predicted_path, expand_width_ + path_footprint_extra_margin_);
+      cropPointCloudWithEgoFootprintPath(expanded_ego_polys);
 
       std::vector<ObjectData> objects_from_point_clusters;
       const auto predicted_polys = generatePathFootprint(predicted_path, expand_width_);