fix formatting (opencv#14)

Author: tfoote

Dockerfile.estimator

@@ -51,7 +51,6 @@ FROM base
 
 ARG SERVICE_PACKAGE=ibpc_pose_estimator
 ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator
-ARG SERVICE_NAME=/get_pose_estimates
 
 RUN apt update \
     && sudo apt install curl -y \
@@ -72,8 +71,6 @@ RUN sed --in-place \
 ENV SERVICE_PACKAGE=${SERVICE_PACKAGE}
 ENV SERVICE_EXECUTABLE_NAME=${SERVICE_EXECUTABLE_NAME}
 ENV MODEL_DIR=/opt/ros/underlay/install/models
-ENV SERVICE_NAME=${SERVICE_NAME}
 
 CMD exec /opt/ros/overlay/install/lib/${SERVICE_PACKAGE}/${SERVICE_EXECUTABLE_NAME} \
-    --ros-args -p model_dir:=${MODEL_DIR} \
-    -p service_name:=${SERVICE_NAME}
+    --ros-args -p model_dir:=${MODEL_DIR}

Dockerfile.tester

@@ -49,7 +49,6 @@ FROM base
 ARG DATASET_NAME
 ARG SERVICE_PACKAGE=ibpc_tester
 ARG SERVICE_EXECUTABLE_NAME=ibpc_tester
-ARG SERVICE_NAME=/get_pose_estimates
 
 RUN apt update \
     && sudo apt install curl -y \
@@ -74,8 +73,6 @@ ENV DATASET_NAME=${DATASET_NAME}
 ENV SERVICE_PACKAGE=${SERVICE_PACKAGE}
 ENV SERVICE_EXECUTABLE_NAME=${SERVICE_EXECUTABLE_NAME}
 ENV BOP_PATH=/opt/ros/underlay/install/datasets
-ENV SERVICE_NAME=${SERVICE_NAME}
 
 CMD exec /opt/ros/overlay/install/lib/${SERVICE_PACKAGE}/${SERVICE_EXECUTABLE_NAME} \
-    --ros-args -p dataset_name:=${DATASET_NAME} \
-    -p service_name:=${SERVICE_NAME}
+    --ros-args -p dataset_name:=${DATASET_NAME}

ibpc_pose_estimator/src/ibpc_pose_estimator.cpp

@@ -32,8 +32,7 @@ PoseEstimator::PoseEstimator(const rclcpp::NodeOptions & options)
   );
   model_dir_ = std::filesystem::path(std::move(path_str));
 
-  std::string srv_name =
-    this->declare_parameter("service_name", "/get_pose_estimates");
+  std::string srv_name = "/get_pose_estimates";
   RCLCPP_INFO(
       this->get_logger(),
       "Pose estimates can be queried over srv %s.",

ibpc_pose_estimator_py/ibpc_pose_estimator_py/ibpc_pose_estimator.py

@@ -89,13 +89,7 @@ def __init__(self):
         if self.model_dir == "":
             raise Exception("ROS parameter model_dir not set.")
         self.get_logger().info(f"Model directory set to {self.model_dir}.")
-        srv_name = (
-            self.declare_parameter("service_name", "/get_pose_estimates")
-            .get_parameter_value()
-            .string_value
-        )
-        if srv_name == "":
-            raise Exception("ROS parameter service_name not set.")
+        srv_name = "/get_pose_estimates"
         self.get_logger().info(f"Pose estimates can be queried over srv {srv_name}.")
         self.srv = self.create_service(GetPoseEstimates, srv_name, self.srv_cb)