Obbart/universal_robots_ros_driver
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Fixed compiler warnings

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:45:58 +02:00
parent fdaaacfe2c
commit 577fcdbf98
10 changed files with 30 additions and 36 deletions
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8
src/ros/action_server.cpp
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@@ -13,10 +13,10 @@ ActionServer::ActionServer(TrajectoryFollower& follower, std::vector<std::string
, joint_set_(joint_names.begin(), joint_names.end())
, max_velocity_(max_velocity)
, interrupt_traj_(false)
, running_(false)
, has_goal_(false)
, state_(RobotState::Error)
, running_(false)
, follower_(follower)
, state_(RobotState::Error)
{
}
@@ -291,7 +291,6 @@ void ActionServer::trajectoryThread()
trajectory.push_back(TrajectoryPoint(q_actual_, qd_actual_, std::chrono::microseconds(0)));
}
int j = 0;
for(auto const& point : goal->trajectory.points)
{
std::array<double, 6> pos, vel;
@@ -302,12 +301,11 @@ void ActionServer::trajectoryThread()
vel[idx] = point.velocities[i];
}
auto t = convert(point.time_from_start);
LOG_DEBUG("P[%d] = %ds, %dns -> %dus", j++, point.time_from_start.sec, point.time_from_start.nsec, t.count());
trajectory.push_back(TrajectoryPoint(pos, vel, t));
}
double t = std::chrono::duration_cast<std::chrono::duration<double>>(trajectory[trajectory.size()-1].time_from_start).count();
LOG_INFO("Executing trajectory with %d points and duration of %4.3fs", trajectory.size(), t);
LOG_INFO("Executing trajectory with %zu points and duration of %4.3fs", trajectory.size(), t);
Result res;