From 853d0155fe5f24b94ca5e28f39cb5f4c88dc0820 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Tue, 27 Jan 2026 10:22:50 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4DetectLine=E7=9B=B8=E5=85=B3?=
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---
 src/autonomy/fu/src/fu_node.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp
index 81f3000..ead41fb 100644
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
@@ -13,7 +13,6 @@
 #include "logger/logger.h"
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/can_frame.hpp"
-#include "sweeper_interfaces/msg/detect_line.hpp"
 #include "sweeper_interfaces/msg/fu.hpp"
 #include "sweeper_interfaces/msg/mc_ctrl.hpp"
 #include "sweeper_interfaces/msg/pl.hpp"
@@ -71,8 +70,6 @@ class fu_node : public rclcpp::Node
 
         msg_subscribe_pl = this->create_subscription<sweeper_interfaces::msg::Pl>(
             "pl_message", 10, std::bind(&fu_node::msg_callback_pl, this, std::placeholders::_1));
-        msg_subscribe_DetectLine = this->create_subscription<sweeper_interfaces::msg::DetectLine>(
-            "airy_message", 10, std::bind(&fu_node::msg_callback_DetectLine, this, std::placeholders::_1));
 
         // 发布控制指令
         pub_mc = this->create_publisher<sweeper_interfaces::msg::McCtrl>("auto_mc_ctrl", 10);
@@ -291,7 +288,6 @@ class fu_node : public rclcpp::Node
     // 声明订阅者和发布者
     rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscription_grid;
     rclcpp::Subscription<sweeper_interfaces::msg::Pl>::SharedPtr msg_subscribe_pl;
-    rclcpp::Subscription<sweeper_interfaces::msg::DetectLine>::SharedPtr msg_subscribe_DetectLine;
     rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_;
 
     rclcpp::Publisher<sweeper_interfaces::msg::McCtrl>::SharedPtr pub_mc;
@@ -754,12 +750,6 @@ class fu_node : public rclcpp::Node
         LOG_INFO("目标点位置： x -- %.2f , y -- %.2f", x, y);
     }
 
-    void msg_callback_DetectLine(const sweeper_interfaces::msg::DetectLine::SharedPtr msg)
-    {
-        nl_adjust = 0 - msg->adjust + remain_adjust;
-        detected_line = msg->detected_line;
-    }
-
     void timer_callback()
     {
         if (speed == 0)