Obbart/universal_robots_ros_driver
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Deleted some commented code

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Thomas Timm Andersen
2015-09-22 12:39:24 +02:00
parent 64a33bf5ed
commit 46e97f1e57
1 changed files with 0 additions and 26 deletions
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26
src/ur_ros_wrapper.cpp
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@@ -123,31 +123,6 @@ public:
mb_publish_thread_ = new std::thread( mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this)); boost::bind(&RosWrapper::publishMbMsg, this));
ROS_DEBUG("The action server for this driver has been started"); ROS_DEBUG("The action server for this driver has been started");
/*double pi = 3.141592653589793;
std::vector<double> tmp, t;
std::vector<std::vector<double> > 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() { void halt() {
@@ -210,7 +185,6 @@ private:
} }
robot_.doTraj(timestamps, positions, velocities); robot_.doTraj(timestamps, positions, velocities);
ros::Duration(timestamps.back()).sleep();
result_.error_code = result_.SUCCESSFUL; result_.error_code = result_.SUCCESSFUL;
as_.setSucceeded(result_); as_.setSucceeded(result_);