simply nodes to remove lines (#1907)

nav2_controller/src/nav2_controller.cpp

@@ -216,11 +216,7 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
 
   // Release any allocated resources
   action_server_.reset();
-  for (it = controllers_.begin(); it != controllers_.end(); ++it) {
-    it->second.reset();
-  }
   odom_sub_.reset();
-
   vel_publisher_.reset();
   action_server_.reset();
   goal_checker_->reset();

nav2_map_server/src/map_saver/main_server.cpp

@@ -25,15 +25,8 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
 
   auto logger = rclcpp::get_logger("map_saver_server");
-
-  try {
-    auto service_node = std::make_shared<nav2_map_server::MapSaver>();
-    rclcpp::spin(service_node->get_node_base_interface());
-    rclcpp::shutdown();
-    return 0;
-  } catch (std::exception & ex) {
-    RCLCPP_ERROR(logger, ex.what());
-    RCLCPP_ERROR(logger, "Exiting");
-    return -1;
-  }
+  auto service_node = std::make_shared<nav2_map_server::MapSaver>();
+  rclcpp::spin(service_node->get_node_base_interface());
+  rclcpp::shutdown();
+  return 0;
 }

nav2_map_server/src/map_saver/map_saver.cpp

@@ -208,7 +208,6 @@ bool MapSaver::saveMapTopicToFile(
     return false;
   }
 
-  RCLCPP_ERROR(get_logger(), "This situation should never appear");
   return false;
 }
 

nav2_map_server/src/map_server/main.cpp

@@ -23,15 +23,8 @@ int main(int argc, char ** argv)
 {
   std::string node_name("map_server");
 
-  try {
-    rclcpp::init(argc, argv);
-    auto node = std::make_shared<nav2_map_server::MapServer>();
-    rclcpp::spin(node->get_node_base_interface());
-    rclcpp::shutdown();
-    return 0;
-  } catch (std::exception & ex) {
-    RCLCPP_ERROR(rclcpp::get_logger(node_name.c_str()), ex.what());
-    RCLCPP_ERROR(rclcpp::get_logger(node_name.c_str()), "Exiting");
-    return -1;
-  }
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<nav2_map_server::MapServer>();
+  rclcpp::spin(node->get_node_base_interface());
+  rclcpp::shutdown();
 }

nav2_navfn_planner/src/navfn.cpp

@@ -55,6 +55,8 @@ namespace nav2_navfn_planner
 //   if the size of the environment does not change
 //
 
+// Example usage:
+/*
 int
 create_nav_plan_astar(
   COSTTYPE * costmap, int nx, int ny,
@@ -100,7 +102,7 @@ create_nav_plan_astar(
 
   return len;
 }
-
+*/
 
 //
 // create nav fn buffers