ros-navigation · SteveMacenski · Nov 30, 2023 · Nov 30, 2023
diff --git a/nav2_util/include/nav2_util/base_footprint_publisher.hpp b/nav2_util/include/nav2_util/base_footprint_publisher.hpp
diff --git a/nav2_util/src/CMakeLists.txt b/nav2_util/src/CMakeLists.txt
@@ -28,11 +28,6 @@ add_executable(lifecycle_bringup
 )
 target_link_libraries(lifecycle_bringup ${library_name})
 
-add_executable(base_footprint_publisher
-  base_footprint_publisher.cpp
-)
-target_link_libraries(base_footprint_publisher ${library_name})
-
 find_package(Boost REQUIRED COMPONENTS program_options)
 
 install(TARGETS

diff --git a/nav2_util/src/base_footprint_publisher.cpp b/nav2_util/src/base_footprint_publisher.cpp
diff --git a/nav2_util/test/CMakeLists.txt b/nav2_util/test/CMakeLists.txt
@@ -41,7 +41,3 @@ target_link_libraries(test_odometry_utils ${library_name})
 ament_add_gtest(test_robot_utils test_robot_utils.cpp)
 ament_target_dependencies(test_robot_utils geometry_msgs)
 target_link_libraries(test_robot_utils ${library_name})
-
-ament_add_gtest(test_base_footprint_publisher test_base_footprint_publisher.cpp)
-ament_target_dependencies(test_base_footprint_publisher geometry_msgs)
-target_link_libraries(test_base_footprint_publisher ${library_name})
diff --git a/nav2_util/test/test_base_footprint_publisher.cpp b/nav2_util/test/test_base_footprint_publisher.cpp