From 46e97f1e57d3be6fdde7b1f6ecfdc06c9b3040fa Mon Sep 17 00:00:00 2001 From: Thomas Timm Andersen Date: Tue, 22 Sep 2015 12:39:24 +0200 Subject: [PATCH] Deleted some commented code --- src/ur_ros_wrapper.cpp | 26 -------------------------- 1 file changed, 26 deletions(-) diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp index fe470ae..552bbfb 100644 --- a/src/ur_ros_wrapper.cpp +++ b/src/ur_ros_wrapper.cpp @@ -123,31 +123,6 @@ public: mb_publish_thread_ = new std::thread( boost::bind(&RosWrapper::publishMbMsg, this)); ROS_DEBUG("The action server for this driver has been started"); - /*double pi = 3.141592653589793; - std::vector tmp, t; - std::vector > pos, vel; - tmp.push_back(-pi / 2); - tmp.push_back(-pi / 2); - tmp.push_back(-pi / 2); - tmp.push_back(0); - tmp.push_back(-pi / 2); - tmp.push_back(0); - pos.push_back(tmp); - tmp[5] = pi; - pos.push_back(tmp); - tmp[5] = 0; - pos.push_back(tmp); - for (int i = 0; i < 6; i++) { - tmp[i] = 0; - } - vel.push_back(tmp); - vel.push_back(tmp); - vel.push_back(tmp); - t.push_back(0.); - t.push_back(4.); - t.push_back(8.); - robot_.doTraj(t, pos, vel);*/ - } void halt() { @@ -210,7 +185,6 @@ private: } robot_.doTraj(timestamps, positions, velocities); - ros::Duration(timestamps.back()).sleep(); result_.error_code = result_.SUCCESSFUL; as_.setSucceeded(result_);