From ecbd9ea1ee22e0fb6b026cbf41f12a8fdedddd72 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Fri, 20 Nov 2020 16:20:22 +0100
Subject: [PATCH] fixed some typos

---
 src/grasping/environment_util.h | 2 +-
 src/grasping/grasp_service.cpp  | 7 +++----
 src/grasping/grasp_util.h       | 4 ++--
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/grasping/environment_util.h b/src/grasping/environment_util.h
index d01cf88..01a6fe5 100644
--- a/src/grasping/environment_util.h
+++ b/src/grasping/environment_util.h
@@ -32,7 +32,7 @@ public:
                         double y_dimension);
 
     /**
-    * Adds a support surfacce to the planning scene (with ID "bin).
+    * Adds a support surface to the planning scene (with ID "bin").
     * @param collision_objects current collision objects in the planning scene
     * @param id id of the support surface to create
     * @param object_x_dimension x dimension object to be picked
diff --git a/src/grasping/grasp_service.cpp b/src/grasping/grasp_service.cpp
index fff3599..bca8656 100644
--- a/src/grasping/grasp_service.cpp
+++ b/src/grasping/grasp_service.cpp
@@ -29,12 +29,11 @@ tf2_ros::Buffer tfBuffer;
 /**
  * Move the robot to a pose between different pick/place-actions.
  * Solves currently the problem of the wrong eef-to-object orientation.
- * @param planning_scene_interface a valid PlanningSceneInterface instance
  * @param group a initialized MoveGroupInterface instance
  * @return true on success
  */
-bool movetoInitPose(moveit::planning_interface::PlanningSceneInterface &planning_scene_interface,
-                    moveit::planning_interface::MoveGroupInterface &group) {
+bool movetoInitPose(moveit::planning_interface::MoveGroupInterface &group) {
+
     geometry_msgs::Pose another_pose;
     another_pose.orientation.w = 0;
     another_pose.orientation.x = 0.981;
@@ -100,7 +99,7 @@ bool pickObject(panda_grasping::PickObject::Request &req,
         }
 
         ROS_INFO("Moving to initial pose.");
-        if (!movetoInitPose(planning_scene_interface, group)) {
+        if (!movetoInitPose(group)) {
             res.success = false;
             return false;
         }
diff --git a/src/grasping/grasp_util.h b/src/grasping/grasp_util.h
index 5476241..e2eff00 100644
--- a/src/grasping/grasp_util.h
+++ b/src/grasping/grasp_util.h
@@ -50,7 +50,7 @@ public:
 
     /**
      * Util method to pick an object from above.
-     * @param move_group a initialized MoveGroupInterface instance
+     * @param move_group an initialized MoveGroupInterface instance
      * @param pick_pose via getPickFromAbovePose-method computed pre-pick-pose
      * @param close_amount total close amount (space between "forks")
      * @param open_amount total opening amount (space between "forks")
@@ -64,7 +64,7 @@ public:
 
     /**
      * Util method to place an object from above.
-     * @param move_group a initialized MoveGroupInterface instance
+     * @param move_group an initialized MoveGroupInterface instance
      * @param place_pose target place pose for the object
      * @param close_amount total close amount (space between "forks")
      * @param open_amount total opening amount (space between "forks")
-- 
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