Revert "feat: add published_time publisher debug to packages (autowarefoundation#6490)"

This reverts commit 7f36c52.

Author: satoshi-ota

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

@@ -37,8 +37,7 @@ class PublishedTimePublisher
   {
   }
 
-  void publish_if_subscribed(
-    const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
+  void publish(const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp)
   {
     const auto & gid_key = publisher->get_gid();
 
@@ -58,7 +57,7 @@ class PublishedTimePublisher
     }
   }
 
-  void publish_if_subscribed(
+  void publish(
     const rclcpp::PublisherBase::ConstSharedPtr & publisher, const std_msgs::msg::Header & header)
   {
     const auto & gid_key = publisher->get_gid();

control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp

@@ -28,7 +28,6 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
 #include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
@@ -122,8 +121,6 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
-
   void publishProcessingTime(
     const double t_ms, const rclcpp::Publisher<Float64Stamped>::SharedPtr pub);
   StopWatch<std::chrono::milliseconds> stop_watch_;