From 5065baf9ecdbeaae43515c7338f3f5c000ae0435 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Wed, 1 Jul 2020 09:49:30 +0200
Subject: [PATCH] removed debug code
---
src/TimedPlanner.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/TimedPlanner.cpp b/src/TimedPlanner.cpp
index 8f08d95..a1d0194 100644
--- a/src/TimedPlanner.cpp
+++ b/src/TimedPlanner.cpp
@@ -184,16 +184,16 @@ void doMotion(const ros::NodeHandle &node_handle, moveit::planning_interface::Mo
}
}
- double velocity = 0.8;
- std::string planning_mode = "cartesian_path";
+ double velocity = 0.0 ;
+ std::string planning_mode;
- /* if (!node_handle.getParam("robot_speed_factor", velocity)) {
+ if (!node_handle.getParam("robot_speed_factor", velocity)) {
velocity = PlannerState::default_velocity;
}
if (!node_handle.getParam("robot_planning_mode", planning_mode)) {
planning_mode = PlannerState::default_planning_mode;
- }*/
+ }
ROS_INFO_STREAM("Planning the next trajectory in " << planning_mode << " with velocity " << velocity);
--
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