From b6e59e8c8a4efca1bd77a93b047a3adad4bfe27c Mon Sep 17 00:00:00 2001
From: Joseph Duchesne <josephgeek@gmail.com>
Date: Wed, 15 Jan 2025 03:08:59 +0000
Subject: [PATCH] Removed extra empty comment lines, and fixed
 redundant/misunderstood dynamic param callack code

---
 .../nav2_controller/plugins/path_complete_goal_checker.hpp    | 2 --
 nav2_controller/plugins/path_complete_goal_checker.cpp        | 4 ----
 2 files changed, 6 deletions(-)

diff --git a/nav2_controller/include/nav2_controller/plugins/path_complete_goal_checker.hpp b/nav2_controller/include/nav2_controller/plugins/path_complete_goal_checker.hpp
index 54e977a8eec..9cd64bfd105 100644
--- a/nav2_controller/include/nav2_controller/plugins/path_complete_goal_checker.hpp
+++ b/nav2_controller/include/nav2_controller/plugins/path_complete_goal_checker.hpp
@@ -47,8 +47,6 @@ namespace nav2_controller
 /**
  * @class PathCompleteGoalChecker
  * @brief Goal Checker plugin that checks position delta, once path is shorter than a threshold.
- *
- *
  */
 class PathCompleteGoalChecker : public SimpleGoalChecker
 {
diff --git a/nav2_controller/plugins/path_complete_goal_checker.cpp b/nav2_controller/plugins/path_complete_goal_checker.cpp
index 0d60b190c54..b6604d7dd00 100644
--- a/nav2_controller/plugins/path_complete_goal_checker.cpp
+++ b/nav2_controller/plugins/path_complete_goal_checker.cpp
@@ -65,7 +65,6 @@ void PathCompleteGoalChecker::initialize(
   node->get_parameter(plugin_name + ".path_length_tolerance", path_length_tolerance_);
 
   // Replace SimpleGoalChecker's callback for dynamic parameters
-  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_ = node->add_on_set_parameters_callback(
     std::bind(&PathCompleteGoalChecker::dynamicParametersCallback, this, _1));
 }
@@ -91,9 +90,6 @@ bool PathCompleteGoalChecker::isGoalReached(
 rcl_interfaces::msg::SetParametersResult
 PathCompleteGoalChecker::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
 {
-  // call the base class (might be unnessesary since the base class will already bind this event)
-  rcl_interfaces::msg::SetParametersResult result =
-    SimpleGoalChecker::dynamicParametersCallback(parameters);
   for (auto & parameter : parameters) {
     const auto & type = parameter.get_type();
     const auto & name = parameter.get_name();