From 4e2f39e202b43c13598ebea6bddb3e7276b9277f Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Wed, 5 Aug 2020 19:15:29 -0700
Subject: [PATCH] minor changes to lower redundent warnings (#1918)
---
nav2_controller/src/nav2_controller.cpp | 1 -
nav2_planner/src/planner_server.cpp | 4 +---
nav2_system_tests/src/waypoint_follower/tester.py | 1 +
3 files changed, 2 insertions(+), 4 deletions(-)
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index 76c7c695..dc9fb88d 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -424,7 +424,6 @@ bool ControllerServer::getRobotPose(geometry_msgs::msg::PoseStamped & pose)
{
geometry_msgs::msg::PoseStamped current_pose;
if (!costmap_ros_->getRobotPose(current_pose)) {
- RCLCPP_ERROR(this->get_logger(), "Could not get robot pose");
return false;
}
pose = current_pose;
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index c1ab640d..d6d529f5 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -288,12 +288,10 @@ PlannerServer::computePlan()
result->planning_time = cycle_duration;
if (max_planner_duration_ && cycle_duration.seconds() > max_planner_duration_) {
- auto planner_period = 1 / max_planner_duration_;
- auto cycle_period = 1 / cycle_duration.seconds();
RCLCPP_WARN(
get_logger(),
"Planner loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz",
- planner_period, cycle_period);
+ 1 / max_planner_duration_, 1 / cycle_duration.seconds());
}
action_server_->succeeded_current(result);
diff --git a/nav2_system_tests/src/waypoint_follower/tester.py b/nav2_system_tests/src/waypoint_follower/tester.py
index 6cdd557a..7f5db902 100755
--- a/nav2_system_tests/src/waypoint_follower/tester.py
+++ b/nav2_system_tests/src/waypoint_follower/tester.py
@@ -202,6 +202,7 @@ def main(argv=sys.argv[1:]):
test.cancel_goal()
# a failure case
+ time.sleep(2)
test.setWaypoints([[100.0, 100.0]])
result = test.run(True)
assert not result
--
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