From 1e7f15e49b07420dfe2d8b56df91244cd558ca94 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Tue, 22 Sep 2015 12:26:22 +0200
Subject: [PATCH] Removed wait in accept_goal

---
 src/ur_ros_wrapper.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index fe470ae..04303ad 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -209,11 +209,8 @@ private:
 
 		}
 		robot_.doTraj(timestamps, positions, velocities);
-
-		ros::Duration(timestamps.back()).sleep();
 		result_.error_code = result_.SUCCESSFUL;
 		as_.setSucceeded(result_);
-
 	}
 
 	void preemptCB() {