remove unused fixed frame parameter

delihus · Feb 9, 2024 · 3d5146c · 3d5146c
1 parent b2bfd87
commit 3d5146c
Show file tree

Hide file tree

Showing 2 changed files with 0 additions and 4 deletions.
diff --git a/opennav_docking/include/opennav_docking/simple_charging_dock.hpp b/opennav_docking/include/opennav_docking/simple_charging_dock.hpp
@@ -109,7 +109,6 @@ class SimpleChargingDock : public opennav_docking_core::ChargingDock
   // Optionally subscribe to a detected dock pose topic
   rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr dock_pose_sub_;
   rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr dock_pose_pub_;
-  std::string fixed_frame_;
   geometry_msgs::msg::PoseStamped dock_pose_, detected_dock_pose_;
 
   // Subscribe to battery message, used to determine if charging

diff --git a/opennav_docking/src/simple_charging_dock.cpp b/opennav_docking/src/simple_charging_dock.cpp
@@ -56,8 +56,6 @@ void SimpleChargingDock::configure(
     node_, name + ".staging_x_offset", rclcpp::ParameterValue(-0.5));
   nav2_util::declare_parameter_if_not_declared(
     node_, name + ".staging_yaw_offset", rclcpp::ParameterValue(0.0));
-  nav2_util::declare_parameter_if_not_declared(
-    node_, "fixed_frame", rclcpp::ParameterValue("odom"));
 
   node_->get_parameter(name + ".use_external_detection_pose", use_external_detection_pose_);
   node_->get_parameter(name + ".external_detection_timeout", external_detection_timeout_);
@@ -74,7 +72,6 @@ void SimpleChargingDock::configure(
   node_->get_parameter(name + ".docking_threshold", docking_threshold_);
   node_->get_parameter(name + ".staging_x_offset", staging_x_offset_);
   node_->get_parameter(name + ".staging_yaw_offset", staging_yaw_offset_);
-  node_->get_parameter("fixed_frame", fixed_frame_);
 
   battery_sub_ = node_->create_subscription<sensor_msgs::msg::BatteryState>(
     "battery_state", 1,