fixed some typos

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

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;
         }

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")