minor fixes

src/util/TrajectoryUtil.cpp

@@ -34,15 +34,10 @@ bool TrajectoryUtil::computePathToPose(moveit::planning_interface::MoveGroupInte
     robot_trajectory::RobotTrajectory rt(group.getCurrentState()->getRobotModel(), "panda_arm");
     rt.setRobotTrajectoryMsg(*group.getCurrentState(), trajectory_msg);
     trajectory_processing::IterativeParabolicTimeParameterization iptp{};
-
-    iptp.computeTimeStamps(rt);
-
     if (iptp.computeTimeStamps(rt, maxVelocityFactor)) {
       ROS_INFO("Computed time stamps.");
       rt.getRobotTrajectoryMsg(trajectory_msg);
       plan.trajectory_ = trajectory_msg;
-
-      ROS_ERROR_STREAM("After second time parameterization, the trajectory takes " << rt.getDuration() << "s");
     } else {
       ROS_ERROR("Computation of cartesian path has failed.");
       return false;
@@ -50,6 +45,7 @@ bool TrajectoryUtil::computePathToPose(moveit::planning_interface::MoveGroupInte
   } else if (pathType == FLUID_PATH) {
     if (group.plan(plan) != moveit::planning_interface::MoveItErrorCode::SUCCESS) {
       ROS_ERROR_STREAM("Computation of fluid path has failed. Path was motion to:\n" << targetPose);
+      return false;
     }
   } else {
     ROS_ERROR("Invalid type of path provided.");