From f1f8bf9ed6a02410944bba0b615035a892455d06 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 15 Jul 2020 15:01:54 +0200
Subject: [PATCH] remove debug output
---
src/util/TrajectoryUtil.cpp | 9 ++-------
1 file changed, 2 insertions(+), 7 deletions(-)
diff --git a/src/util/TrajectoryUtil.cpp b/src/util/TrajectoryUtil.cpp
index 2566f1d..1e4dbbd 100644
--- a/src/util/TrajectoryUtil.cpp
+++ b/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.");
--
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