smallish changes and optimizations

Author: liampaull

packages/ground_projection/src/ground_projection_node.py

@@ -3,7 +3,6 @@
 import os
 from typing import Optional, Union
 import numpy as np
-from aiohttp.tcp_helpers import tcp_nodelay
 
 from dt_computer_vision.camera.types import Pixel, NormalizedImagePoint, ResolutionIndependentImagePoint
 from dt_computer_vision.ground_projection import GroundPoint
@@ -104,8 +103,6 @@ def __init__(self, node_name: str):
             queue_size=1,
         )
 
-        self.bridge = CvBridge()
-
         self.debug_img_bg = None
 
 

packages/lane_filter/src/lane_filter_node.py

@@ -121,7 +121,6 @@ def __init__(self, node_name):
 
         # Set up a timer for prediction (if we got encoder data) since that data can come very quickly
   #      rospy.Timer(rospy.Duration(1 / self._predict_freq), self.cbPredict)
-        self.publishEstimate(self.last_update_header)
 
 
     def cbEpisodeStart(self, msg):