From 2022556c891e083a5e6f6ab560fc1c7813d0ec83 Mon Sep 17 00:00:00 2001
From: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date: Tue, 27 Aug 2024 18:34:57 +0900
Subject: [PATCH] Revert "feat: Add alive service to mission planner"

This reverts commit 064c0086b9f4e6e431f006c9e689a486b10998d2.
---
 .../mission_planner/mission_planner_base.hpp       |  8 --------
 .../mission_planner/lib/mission_planner_base.cpp   | 14 --------------
 planning/mission_planner/package.xml               |  1 -
 3 files changed, 23 deletions(-)

diff --git a/planning/mission_planner/include/mission_planner/mission_planner_base.hpp b/planning/mission_planner/include/mission_planner/mission_planner_base.hpp
index 3aa0b5c39daa2..c7c56479f3f2f 100644
--- a/planning/mission_planner/include/mission_planner/mission_planner_base.hpp
+++ b/planning/mission_planner/include/mission_planner/mission_planner_base.hpp
@@ -15,9 +15,6 @@
 #ifndef MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
 #define MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
 
-#include <std_srvs/srv/trigger.hpp>
-
-#include <memory>
 #include <string>
 #include <vector>
 
@@ -64,11 +61,6 @@ class MissionPlanner : public rclcpp::Node
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
-  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr alive_service_;
-  void handleAliveService(
-    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
-    std::shared_ptr<std_srvs::srv::Trigger::Response> response);
-
   bool getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose);
   void goalPoseCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr goal_msg_ptr);
   void checkpointCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr checkpoint_msg_ptr);
diff --git a/planning/mission_planner/lib/mission_planner_base.cpp b/planning/mission_planner/lib/mission_planner_base.cpp
index 7a9cf219ecb58..5a1551a156784 100644
--- a/planning/mission_planner/lib/mission_planner_base.cpp
+++ b/planning/mission_planner/lib/mission_planner_base.cpp
@@ -47,11 +47,6 @@ MissionPlanner::MissionPlanner(
     create_publisher<autoware_auto_planning_msgs::msg::HADMapRoute>("output/route", durable_qos);
   marker_publisher_ =
     create_publisher<visualization_msgs::msg::MarkerArray>("debug/route_marker", durable_qos);
-
-  alive_service_ = create_service<std_srvs::srv::Trigger>(
-    "/planning/mission_planner/alive",
-    std::bind(
-      &MissionPlanner::handleAliveService, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 bool MissionPlanner::getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose)
@@ -139,15 +134,6 @@ void MissionPlanner::checkpointCallback(
   publishRoute(route);
 }
 
-void MissionPlanner::handleAliveService(
-  const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
-  std::shared_ptr<std_srvs::srv::Trigger::Response> response)
-{
-  (void)request;
-  response->success = true;
-  response->message = "MissionPlanner is alive and running.";
-}
-
 void MissionPlanner::publishRoute(const autoware_auto_planning_msgs::msg::HADMapRoute & route) const
 {
   if (!route.segments.empty()) {
diff --git a/planning/mission_planner/package.xml b/planning/mission_planner/package.xml
index 68d0d6fe1c3e8..f42875b759788 100644
--- a/planning/mission_planner/package.xml
+++ b/planning/mission_planner/package.xml
@@ -19,7 +19,6 @@
   <depend>route_handler</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>std_srvs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>