From 6f46242cca93003fd8395f5fcb37aafeea676ab8 Mon Sep 17 00:00:00 2001
From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Date: Wed, 10 Apr 2024 10:51:23 +0900
Subject: [PATCH] cleanup code

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
---
 .../fault_injection/fault_injection_node.hpp  |  5 ----
 .../fault_injection_node.cpp                  | 27 -------------------
 2 files changed, 32 deletions(-)

diff --git a/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp b/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp
index 0af84a5448019..999d18b38c7b0 100644
--- a/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp
+++ b/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp
@@ -39,11 +39,6 @@ class FaultInjectionNode : public rclcpp::Node
   void on_simulation_events(const SimulationEvents::ConstSharedPtr msg);
   rclcpp::Subscription<SimulationEvents>::SharedPtr sub_simulation_events_;
 
-  // Parameter Server
-  rcl_interfaces::msg::SetParametersResult on_set_param(
-    const std::vector<rclcpp::Parameter> & params);
-  OnSetParametersCallbackHandle::SharedPtr set_param_res_;
-
   void update_event_diag(
     diagnostic_updater::DiagnosticStatusWrapper & wrap, const std::string & event_name);
 
diff --git a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
index 289b0602bb1f3..7b8f87400beab 100644
--- a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
+++ b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
@@ -49,10 +49,6 @@ FaultInjectionNode::FaultInjectionNode(rclcpp::NodeOptions node_options)
 
   using std::placeholders::_1;
 
-  // Parameter Server
-  set_param_res_ =
-    this->add_on_set_parameters_callback(std::bind(&FaultInjectionNode::on_set_param, this, _1));
-
   // Subscriber
   sub_simulation_events_ = this->create_subscription<SimulationEvents>(
     "~/input/simulation_events", rclcpp::QoS{rclcpp::KeepLast(10)},
@@ -86,29 +82,6 @@ void FaultInjectionNode::update_event_diag(
   wrap.hardware_id = diag.hardware_id;
 }
 
-rcl_interfaces::msg::SetParametersResult FaultInjectionNode::on_set_param(
-  const std::vector<rclcpp::Parameter> & params)
-{
-  rcl_interfaces::msg::SetParametersResult result;
-
-  RCLCPP_DEBUG(this->get_logger(), "call on_set_param");
-
-  try {
-    double value = NAN;
-    if (tier4_autoware_utils::updateParam(params, "diagnostic_updater.period", value)) {
-      updater_.set_period(value);
-    }
-  } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
-    result.successful = false;
-    result.reason = e.what();
-    return result;
-  }
-
-  result.successful = true;
-  result.reason = "success";
-  return result;
-}
-
 std::vector<DiagConfig> FaultInjectionNode::read_event_diag_list()
 {
   // Expected parameter name is "event_diag_list.param_name".