From d646be928fcaf762162d03669765e7bf353aa384 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@osrfoundation.org>
Date: Fri, 25 May 2018 10:30:51 -0700
Subject: [PATCH] ParameterService auto started

---
 include/depthimage_to_laserscan/DepthImageToLaserScanROS.h | 4 +---
 src/DepthImageToLaserScanROS.cpp                           | 2 --
 2 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/include/depthimage_to_laserscan/DepthImageToLaserScanROS.h b/include/depthimage_to_laserscan/DepthImageToLaserScanROS.h
index 18b855a..990f5a1 100644
--- a/include/depthimage_to_laserscan/DepthImageToLaserScanROS.h
+++ b/include/depthimage_to_laserscan/DepthImageToLaserScanROS.h
@@ -71,12 +71,10 @@ namespace depthimage_to_laserscan
 
     rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub_;
 
-    rclcpp::ParameterService::SharedPtr parameter_service_;
-
     depthimage_to_laserscan::DepthImageToLaserScan dtl_; ///< Instance of the DepthImageToLaserScan conversion class.
   };
   
   
 } // depthimage_to_laserscan
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/DepthImageToLaserScanROS.cpp b/src/DepthImageToLaserScanROS.cpp
index 5d41cd1..40e3dc2 100644
--- a/src/DepthImageToLaserScanROS.cpp
+++ b/src/DepthImageToLaserScanROS.cpp
@@ -61,8 +61,6 @@ DepthImageToLaserScanROS::DepthImageToLaserScanROS(rclcpp::Node::SharedPtr & nod
 
   scan_pub_ = node_->create_publisher<sensor_msgs::msg::LaserScan>("scan");
 
-  parameter_service_ = std::make_shared<rclcpp::ParameterService>(node_);
-
   float scan_time = 0.033;
   node_->get_parameter("scan_time", scan_time);
   dtl_.set_scan_time(scan_time);