removed initial move

src/TimedPlanner.cpp

@@ -184,16 +184,16 @@ void doMotion(const ros::NodeHandle &node_handle, moveit::planning_interface::Mo
       }
     }
 
-    double velocity = 0.0;
-    std::string planning_mode;
+    double velocity = 0.8;
+    std::string planning_mode = "cartesian_path";
 
-    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);
 
@@ -229,7 +229,7 @@ int main(int argc, char **argv) {
   moveit::planning_interface::MoveGroupInterface group("panda_arm");
   moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
 
-  moveRobotToInitialState(node_handle);
+  //moveRobotToInitialState(node_handle);
   initRawTrajectory(node_handle, &group, true, true);
   node_handle.getParam("loop_trajectory", PlannerState::isLooping);