feat: delete control cmd sub and pub for refactoring

system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp

@@ -24,7 +24,6 @@
 // Autoware
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
@@ -65,8 +64,6 @@ class EmergencyHandler : public rclcpp::Node
 
 private:
   // Subscribers
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    sub_prev_control_command_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
   rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
     sub_control_mode_;
@@ -81,7 +78,6 @@ class EmergencyHandler : public rclcpp::Node
   rclcpp::Subscription<autoware_adapi_v1_msgs::msg::OperationModeState>::SharedPtr
     sub_operation_mode_state_;
 
-  autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr prev_control_command_;
   nav_msgs::msg::Odometry::ConstSharedPtr odom_;
   autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_;
   tier4_system_msgs::msg::OperationModeAvailability::ConstSharedPtr operation_mode_availability_;
@@ -90,8 +86,6 @@ class EmergencyHandler : public rclcpp::Node
   tier4_system_msgs::msg::MrmBehaviorStatus::ConstSharedPtr mrm_emergency_stop_status_;
   autoware_adapi_v1_msgs::msg::OperationModeState::ConstSharedPtr operation_mode_state_;
 
-  void onPrevControlCommand(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg);
   void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg);
   void onControlMode(const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
   void onOperationModeAvailability(
@@ -105,8 +99,6 @@ class EmergencyHandler : public rclcpp::Node
     const autoware_adapi_v1_msgs::msg::OperationModeState::ConstSharedPtr msg);
 
   // Publisher
-  rclcpp::Publisher<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    pub_control_command_;
 
   // rclcpp::Publisher<tier4_vehicle_msgs::msg::ShiftStamped>::SharedPtr pub_shift_;
   // rclcpp::Publisher<tier4_vehicle_msgs::msg::TurnSignal>::SharedPtr pub_turn_signal_;

system/emergency_handler/launch/emergency_handler.launch.xml

@@ -1,7 +1,6 @@
 <launch>
   <arg name="input_operation_mode_availability" default="/system/operation_mode/availability"/>
   <!-- To be replaced by ControlCommand -->
-  <arg name="input_prev_control_command" default="/control/command/control_cmd"/>
   <arg name="input_odometry" default="/localization/kinematic_state"/>
   <arg name="input_control_mode" default="/vehicle/status/control_mode"/>
   <arg name="input_mrm_pull_over_state" default="/system/mrm/pull_over_manager/status"/>
@@ -21,7 +20,6 @@
   <!-- emergency_handler -->
   <node pkg="emergency_handler" exec="emergency_handler" name="emergency_handler" output="screen">
     <remap from="~/input/operation_mode_availability" to="$(var input_operation_mode_availability)"/>
-    <remap from="~/input/prev_control_command" to="$(var input_prev_control_command)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/control_mode" to="$(var input_control_mode)"/>
     <remap from="~/input/mrm/pull_over/status" to="$(var input_mrm_pull_over_state)"/>

system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp

@@ -36,10 +36,6 @@ EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
   using std::placeholders::_1;
 
   // Subscriber
-  sub_prev_control_command_ =
-    create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>(
-      "~/input/prev_control_command", rclcpp::QoS{1},
-      std::bind(&EmergencyHandler::onPrevControlCommand, this, _1));
   sub_odom_ = create_subscription<nav_msgs::msg::Odometry>(
     "~/input/odometry", rclcpp::QoS{1}, std::bind(&EmergencyHandler::onOdometry, this, _1));
   // subscribe control mode
@@ -63,8 +59,6 @@ EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
     std::bind(&EmergencyHandler::onOperationModeState, this, _1));
 
   // Publisher
-  pub_control_command_ = create_publisher<autoware_auto_control_msgs::msg::AckermannControlCommand>(
-    "~/output/control_command", rclcpp::QoS{1});
   pub_hazard_cmd_ = create_publisher<autoware_auto_vehicle_msgs::msg::HazardLightsCommand>(
     "~/output/hazard", rclcpp::QoS{1});
   pub_gear_cmd_ =
@@ -91,8 +85,6 @@ EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
   // Initialize
   odom_ = std::make_shared<const nav_msgs::msg::Odometry>();
   control_mode_ = std::make_shared<const autoware_auto_vehicle_msgs::msg::ControlModeReport>();
-  prev_control_command_ = autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr(
-    new autoware_auto_control_msgs::msg::AckermannControlCommand);
   mrm_pull_over_status_ = std::make_shared<const tier4_system_msgs::msg::MrmBehaviorStatus>();
   mrm_comfortable_stop_status_ =
     std::make_shared<const tier4_system_msgs::msg::MrmBehaviorStatus>();
@@ -108,15 +100,6 @@ EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
     this, get_clock(), update_period_ns, std::bind(&EmergencyHandler::onTimer, this));
 }
 
-void EmergencyHandler::onPrevControlCommand(
-  const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg)
-{
-  auto control_command = new autoware_auto_control_msgs::msg::AckermannControlCommand(*msg);
-  control_command->stamp = msg->stamp;
-  prev_control_command_ =
-    autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr(control_command);
-}
-
 void EmergencyHandler::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
 {
   odom_ = msg;