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Commit f1f8bf9e authored by Johannes Mey's avatar Johannes Mey
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remove debug output

parent adbaed04
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......@@ -35,11 +35,7 @@ bool TrajectoryUtil::computePathToPose(moveit::planning_interface::MoveGroupInte
rt.setRobotTrajectoryMsg(*group.getCurrentState(), trajectory_msg);
trajectory_processing::IterativeParabolicTimeParameterization iptp{};
ROS_ERROR_STREAM("Before time parameterization, the trajectory takes " << rt.getDuration() << "s");
if (iptp.computeTimeStamps(rt)) {
ROS_ERROR_STREAM("After first time parameterization, the trajectory takes " << rt.getDuration() << "s");
}
iptp.computeTimeStamps(rt);
if (iptp.computeTimeStamps(rt, maxVelocityFactor)) {
ROS_INFO("Computed time stamps.");
......@@ -53,8 +49,7 @@ bool TrajectoryUtil::computePathToPose(moveit::planning_interface::MoveGroupInte
}
} else if (pathType == FLUID_PATH) {
if (group.plan(plan) != moveit::planning_interface::MoveItErrorCode::SUCCESS) {
ROS_ERROR("Computation of fluid path has failed.");
ROS_ERROR_STREAM("Path was motion to:\n" << targetPose);
ROS_ERROR_STREAM("Computation of fluid path has failed. Path was motion to:\n" << targetPose);
}
} else {
ROS_ERROR("Invalid type of path provided.");
......
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