fix(imu_corrector): remove non-periodic publish to /diagnostics topic (…

…#9951) fix(imu_corrector): remove force_update() in timer callback Signed-off-by: Takahisa.Ishikawa <[email protected]> Co-authored-by: Takahisa.Ishikawa <[email protected]>
autowarefoundation · Jan 17, 2025 · f9c0aa6 · f9c0aa6
1 parent b466796
commit f9c0aa6
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp
@@ -40,7 +40,6 @@ GyroBiasEstimator::GyroBiasEstimator(const rclcpp::NodeOptions & options)
 {
   updater_.setHardwareID(get_name());
   updater_.add("gyro_bias_validator", this, &GyroBiasEstimator::update_diagnostics);
-  // diagnostic_updater is designed to be updated at the same rate as the timer
   updater_.setPeriod(diagnostics_updater_interval_sec_);
 
   gyro_bias_estimation_module_ = std::make_unique<GyroBiasEstimationModule>();
@@ -182,8 +181,6 @@ void GyroBiasEstimator::timer_callback()
     transform_vector3(gyro_bias_estimation_module_->get_bias_base_link(), *tf_base2imu_ptr);
 
   validate_gyro_bias();
-  updater_.force_update();
-  updater_.setPeriod(diagnostics_updater_interval_sec_);  // to reset timer inside the updater
 }
 
 void GyroBiasEstimator::validate_gyro_bias()