remove previously deprecated param

AVP-UMN · Mar 14, 2015 · d9e701e · d9e701e
1 parent b2a83c3
commit d9e701e
Showing 1 changed file with 1 addition and 8 deletions.
diff --git a/base_local_planner/src/trajectory_planner_ros.cpp b/base_local_planner/src/trajectory_planner_ros.cpp
@@ -119,14 +119,7 @@ namespace base_local_planner {
       private_nh.param("xy_goal_tolerance", xy_goal_tolerance_, 0.10);
       private_nh.param("acc_lim_x", acc_lim_x_, 2.5);
       private_nh.param("acc_lim_y", acc_lim_y_, 2.5);
-      //this was improperly set as acc_lim_th -- TODO: remove this when we get to J turtle
-      acc_lim_theta_ = 3.2;
-      if (private_nh.hasParam("acc_lim_th"))
-      {
-        ROS_WARN("%s/acc_lim_th should be acc_lim_theta, this param will be removed in J-turtle", private_nh.getNamespace().c_str());
-        private_nh.param("acc_lim_th", acc_lim_theta_, 3.2);
-      }
-      private_nh.param("acc_lim_theta", acc_lim_theta_, acc_lim_theta_);
+      private_nh.param("acc_lim_theta", acc_lim_theta_, 3.2);
 
       private_nh.param("stop_time_buffer", stop_time_buffer, 0.2);