From 7f888a58d6793c7c8fffaf5701dedce700ffdc64 Mon Sep 17 00:00:00 2001
From: Remi Bettan <remibettan@gmail.com>
Date: Thu, 12 Dec 2024 14:58:22 +0200
Subject: [PATCH] removing dead code

---
 realsense2_camera/include/ros_sensor.h |  3 ---
 realsense2_camera/src/ros_sensor.cpp   | 37 --------------------------
 2 files changed, 40 deletions(-)

diff --git a/realsense2_camera/include/ros_sensor.h b/realsense2_camera/include/ros_sensor.h
index 57d224300e..67d7000e7e 100644
--- a/realsense2_camera/include/ros_sensor.h
+++ b/realsense2_camera/include/ros_sensor.h
@@ -86,7 +86,6 @@ namespace realsense2_camera
             ~RosSensor();
             void registerSensorParameters();
             bool getUpdatedProfiles(std::vector<rs2::stream_profile>& wanted_profiles);
-            void runFirstFrameInitialization();
             virtual bool start(const std::vector<rs2::stream_profile>& profiles);
             void stop();
             rmw_qos_profile_t getQOS(const stream_index_pair& sip) const;
@@ -114,8 +113,6 @@ namespace realsense2_camera
             std::function<void(rs2::frame)> _frame_callback;
             SensorParams _params;
             std::function<void()> _update_sensor_func, _hardware_reset_func;
-            bool _is_first_frame;
-            std::vector<std::function<void()> > _first_frame_functions_stack;
             std::vector<std::shared_ptr<ProfilesManager> > _profile_managers;
             rs2::region_of_interest _auto_exposure_roi;
             std::vector<std::string> _parameters_names;
diff --git a/realsense2_camera/src/ros_sensor.cpp b/realsense2_camera/src/ros_sensor.cpp
index 53c6d4efe4..3cfa59ef99 100644
--- a/realsense2_camera/src/ros_sensor.cpp
+++ b/realsense2_camera/src/ros_sensor.cpp
@@ -53,13 +53,11 @@ RosSensor::RosSensor(rs2::sensor sensor,
     _params(parameters, _logger),
     _update_sensor_func(update_sensor_func),
     _hardware_reset_func(hardware_reset_func),
-    _is_first_frame(true),
     _diagnostics_updater(diagnostics_updater),
     _force_image_default_qos(force_image_default_qos)
 {
     _frame_callback = [this](rs2::frame frame)
         {
-            runFirstFrameInitialization();
             auto stream_type = frame.get_profile().stream_type();
             auto stream_index = frame.get_profile().stream_index();
             stream_index_pair sip{stream_type, stream_index};
@@ -236,41 +234,6 @@ void RosSensor::registerSensorParameters()
     }
 }
 
-void RosSensor::runFirstFrameInitialization()
-{
-    if (_is_first_frame)
-    {
-        ROS_DEBUG_STREAM("runFirstFrameInitialization: " << _first_frame_functions_stack.size());
-        _is_first_frame = false;
-        if (!_first_frame_functions_stack.empty())
-        {
-            std::thread t = std::thread([=]()
-            {
-                try
-                {
-                    while (!_first_frame_functions_stack.empty())
-                    {
-                        _first_frame_functions_stack.back()();
-                        _first_frame_functions_stack.pop_back();
-                    }
-                }
-                catch(const std::exception& e)
-                {
-                    std::cerr << "runFirstFrameInitialization(): " << e.what() << '\n';
-                    throw e;
-                }
-                catch(...)
-                {
-                    std::cerr << "runFirstFrameInitialization()!!!" << std::endl;
-                    throw;
-                }                
-
-            });
-            t.detach();
-        }
-    }
-}
-
 bool RosSensor::start(const std::vector<stream_profile>& profiles)
 {
     if (get_active_streams().size() > 0)