remove debug output

src/util/TrajectoryUtil.cpp

@@ -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.");