Remove unnecessary publish_limited_velocity_ member (backport #2266) (#2269)

Author: mergify[bot]

diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp

@@ -134,7 +134,6 @@ class DiffDriveController : public controller_interface::ChainableControllerInte
   std::unique_ptr<SpeedLimiter> limiter_linear_;
   std::unique_ptr<SpeedLimiter> limiter_angular_;
 
-  bool publish_limited_velocity_ = false;
   std::shared_ptr<rclcpp::Publisher<TwistStamped>> limited_velocity_publisher_ = nullptr;
   std::shared_ptr<realtime_tools::RealtimePublisher<TwistStamped>>
     realtime_limited_velocity_publisher_ = nullptr;

diff_drive_controller/src/diff_drive_controller.cpp

@@ -270,7 +270,7 @@ controller_interface::return_type DiffDriveController::update_and_write_commands
   previous_two_commands_.push({{linear_command, angular_command}});
 
   //    Publish limited velocity
-  if (publish_limited_velocity_ && realtime_limited_velocity_publisher_)
+  if (params_.publish_limited_velocity && realtime_limited_velocity_publisher_)
   {
     limited_velocity_message_.header.stamp = time;
     limited_velocity_message_.twist.linear.x = linear_command;
@@ -331,7 +331,6 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   odometry_.setVelocityRollingWindowSize(static_cast<size_t>(params_.velocity_rolling_window_size));
 
   cmd_vel_timeout_ = rclcpp::Duration::from_seconds(params_.cmd_vel_timeout);
-  publish_limited_velocity_ = params_.publish_limited_velocity;
 
   // Allocate reference interfaces if needed
   const int nr_ref_itfs = 2;
@@ -357,7 +356,7 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   // left and right sides are both equal at this point
   wheels_per_side_ = static_cast<int>(params_.left_wheel_names.size());
 
-  if (publish_limited_velocity_)
+  if (params_.publish_limited_velocity)
   {
     limited_velocity_publisher_ = get_node()->create_publisher<TwistStamped>(
       DEFAULT_COMMAND_OUT_TOPIC, rclcpp::SystemDefaultsQoS());