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Remove unnecessary publish_limited_velocity_ member (backport #2266) #2269

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Merged
christophfroehlich merged 1 commit into from
Apr 2, 2026
+2 −4
Merged

Remove unnecessary publish_limited_velocity_ member (backport #2266) #2269

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1 change: 0 additions & 1 deletion diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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5 changes: 2 additions & 3 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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;
Expand All @@ -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());
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