...

src/bt/execution.cpp

@@ -23,14 +23,9 @@ BT::NodeStatus Execution::tick() {
 BT::NodeStatus Execution::onStart(){
     if (it_ != ets_.solution.sub_trajectory.end()){
         std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(it_->trajectory, it_->scene_diff);
-        for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_names) ROS_INFO("%s", e.c_str());
-	    for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_values) {
-		for (auto en: e.enabled){
-			ROS_INFO("%f", en);
-            }
-        }
         executions_->insert_or_assign(mr_reference_->name(), pair);
         it_++;
+        ROS_INFO("oihinin");
         return BT::NodeStatus::RUNNING;
     } else {
         return BT::NodeStatus::SUCCESS;
@@ -42,14 +37,10 @@ BT::NodeStatus Execution::onStart(){
 BT::NodeStatus Execution::onRunning(){
     if (it_ != ets_.solution.sub_trajectory.end()){
         std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(it_->trajectory, it_->scene_diff);
-        for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_names) ROS_INFO("%s", e.c_str());
-	    for (auto& e : it_->scene_diff.allowed_collision_matrix.entry_values) {
-		for (auto en: e.enabled){
-			ROS_INFO("%f", en);
-            }
-        }
         executions_->insert_or_assign(mr_reference_->name(), pair);
         it_++;
+        ROS_INFO("oihinin");
+
         return BT::NodeStatus::RUNNING;
     } else {
         return BT::NodeStatus::SUCCESS;