removed all other changes

Signed-off-by: suifengersan123 <[email protected]>

Author: suifengersan123

nav2_amcl/src/amcl_node.cpp

@@ -699,12 +699,7 @@ AmclNode::laserReceived(sensor_msgs::msg::LaserScan::ConstSharedPtr laser_scan)
   // If the robot has moved, update the filter
   if (lasers_update_[laser_index]) {
     updateFilter(laser_index, laser_scan, pose);
-    if(resample_interval_ == 0){
-        RCLCPP_WARN(
-          get_logger(), "You've set resample_interval to be zero,"
-          " this isn't allowed so it will be set to default value to 1.");
-        resample_interval_ = 1;
-    }
+
     // Resample the particles
     if (!(++resample_count_ % resample_interval_)) {
       pf_update_resample(pf_);

nav2_costmap_2d/src/costmap_2d.cpp

@@ -350,15 +350,11 @@ bool Costmap2D::setConvexPolygonCost(
   convexFillCells(map_polygon, polygon_cells);
 
   // set the cost of those cells
-  bool cells_written = false;
   for (unsigned int i = 0; i < polygon_cells.size(); ++i) {
     unsigned int index = getIndex(polygon_cells[i].x, polygon_cells[i].y);
-     if (index < size_x_ * size_y_) {
-      costmap_[index] = cost_value;
-      cells_written = true;
-    }
+    costmap_[index] = cost_value;
   }
-    return cells_written;
+  return true;
 }
 
 void Costmap2D::polygonOutlineCells(

nav2_costmap_2d/src/costmap_layer.cpp

@@ -56,12 +56,6 @@ void CostmapLayer::touch(
 void CostmapLayer::matchSize()
 {
   Costmap2D * master = layered_costmap_->getCostmap();
-  if (!master) {
-      RCLCPP_WARN(
-        rclcpp::get_logger("nav2_costmap_2d"),
-        "Cannot match size for layer, master costmap is not initialized yet.");
-      return;
-    }
   resizeMap(
     master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),
     master->getOriginX(), master->getOriginY());

nav2_costmap_2d/src/layered_costmap.cpp

@@ -96,9 +96,7 @@ void LayeredCostmap::resizeMap(
   for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
     plugin != plugins_.end(); ++plugin)
   {
-    if (*plugin) {
-      (*plugin)->matchSize();
-    }
+    (*plugin)->matchSize();
   }
 }