Prediction: clean up channels

modules/prediction/conf/prediction_conf.pb.txt

@@ -35,7 +35,3 @@ obstacle_conf {
   obstacle_status: OFF_LANE
   predictor_type: FREE_MOVE_PREDICTOR
 }
-
-perception_obstacle_channel: "/apollo//apollo/perception/obstacles"
-pose_channel: "/apollo/localization/pose"
-planning_trajectory_channel: "/apollo/planning"

modules/prediction/dag/prediction.dag

@@ -17,12 +17,6 @@ module_config {
                     qos_profile: {
                         depth : 1
                     }
-                },
-                {
-                    channel: "/apollo/planning"
-                    qos_profile: {
-                        depth : 1
-                    }
                 }
             ]
         }

modules/prediction/prediction_component.cc

@@ -125,7 +125,7 @@ bool PredictionComponent::Init() {
   }
 
   planning_reader_ = node_->CreateReader<ADCTrajectory>(
-     prediction_conf_.planning_trajectory_channel(),
+     FLAGS_planning_trajectory_topic,
      [this](const std::shared_ptr<ADCTrajectory>& adc_trajectory) {
          ADEBUG << "Received planning data: run planning callback.";
          std::lock_guard<std::mutex> lock(mutex_);

modules/prediction/proto/prediction_conf.proto

@@ -35,8 +35,4 @@ message ObstacleConf {
 
 message PredictionConf {
   repeated ObstacleConf obstacle_conf = 1;
-  optional string perception_obstacle_channel = 2;
-  optional string perception_traffic_light_channel = 3;
-  optional string pose_channel = 4;
-  optional string planning_trajectory_channel = 5;
 }