Revert "Merge pull request #538 from sloretz/amcl-use-only-one-node"

This reverts commit 97675013, reversing
changes made to 1ae4a549.

Changes are no longer needed since the error this fixed has been turned
into a warning.

nav2_amcl/src/amcl_node.cpp

@@ -96,7 +96,7 @@ AmclNode::AmclNode()
 
   tfb_.reset(new tf2_ros::TransformBroadcaster(node_));
   tf_.reset(new tf2_ros::Buffer(get_clock()));
-  tfl_.reset(new tf2_ros::TransformListener(*tf_, node_, false));
+  tfl_.reset(new tf2_ros::TransformListener(*tf_));
 
   rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
   custom_qos_profile.depth = 2;

nav2_tasks/include/nav2_tasks/service_client.hpp

@@ -16,7 +16,6 @@
 #define NAV2_TASKS__SERVICE_CLIENT_HPP_
 
 #include <string>
-#include <vector>
 #include "rclcpp/rclcpp.hpp"
 
 namespace nav2_tasks
@@ -28,14 +27,7 @@ class ServiceClient
 public:
   explicit ServiceClient(const std::string & name)
   {
-    node_ = rclcpp::Node::make_shared(name + "_Node",
-        "",
-        rclcpp::contexts::default_context::get_global_default_context(),
-        std::vector<std::string>(),
-        std::vector<rclcpp::Parameter>(),
-        false,  // ignore global parameters, so this node doesn't get renamed
-        false,
-        false);
+    node_ = rclcpp::Node::make_shared(name + "_Node");
     client_ = node_->create_client<ServiceT>(name);
   }