Delete an unused variable and a redundant log message (#1179)

Co-authored-by: Vatan Aksoy Tezer <[email protected]>
moveit · Apr 15, 2022 · d27518d · d27518d
1 parent 81f10f1
commit d27518d
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diff --git a/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h b/moveit_ros/moveit_servo/include/moveit_servo/pose_tracking.h
@@ -160,7 +160,6 @@ class PoseTracking
 
   planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
   moveit::core::RobotModelConstPtr robot_model_;
-  const moveit::core::JointModelGroup* joint_model_group_;
   // Joint group used for controlling the motions
   std::string move_group_name_;
 

diff --git a/moveit_ros/moveit_servo/src/pose_tracking.cpp b/moveit_ros/moveit_servo/src/pose_tracking.cpp
@@ -86,7 +86,6 @@ PoseTracking::PoseTracking(const rclcpp::Node::SharedPtr& node, const ServoParam
   readROSParams();
 
   robot_model_ = planning_scene_monitor_->getRobotModel();
-  joint_model_group_ = robot_model_->getJointModelGroup(move_group_name_);
 
   // Initialize PID controllers
   initializePID(x_pid_config_, cartesian_position_pids_);

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/add_ruckig_traj_smoothing.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/add_ruckig_traj_smoothing.cpp
@@ -70,7 +70,6 @@ class AddRuckigTrajectorySmoothing : public planning_request_adapter::PlanningRe
       if (!smoother_.applySmoothing(*res.trajectory_, req.max_velocity_scaling_factor,
                                     req.max_acceleration_scaling_factor))
       {
-        RCLCPP_WARN(LOGGER, " Trajectory smoothing for the solution path failed.");
         result = false;
       }
     }