Fix unintended changes

at-wat · Jul 6, 2023 · 0f7c602 · 0f7c602
1 parent e144e4f
commit 0f7c602
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/planner_cspace/src/patrol.cpp b/planner_cspace/src/patrol.cpp
@@ -130,10 +130,12 @@ class PatrolActionNode
   void spin()
   {
     ros::Rate rate(10.0);
+
     while (ros::ok())
     {
       ros::spinOnce();
       rate.sleep();
+
       if (path_.poses.size() == 0)
       {
         continue;

diff --git a/planner_cspace/test/src/test_navigate.cpp b/planner_cspace/test/src/test_navigate.cpp
@@ -87,7 +87,6 @@ class Navigate : public ::testing::Test
   ros::Publisher pub_map_local_;
   ros::Publisher pub_initial_pose_;
   ros::Publisher pub_patrol_nodes_;
-
   size_t local_map_apply_cnt_;
   std::vector<tf2::Stamped<tf2::Transform>> traj_;
   std::string test_scope_;
@@ -259,13 +258,12 @@ class Navigate : public ::testing::Test
   {
     ros::spinOnce();
     ASSERT_TRUE(static_cast<bool>(map_));
-    // ASSERT_TRUE(static_cast<bool>(map_local_));
+    ASSERT_TRUE(static_cast<bool>(map_local_));
     pubMapLocal();
     ros::Duration(0.2).sleep();
 
     ros::Rate wait(10);
     ros::Time deadline = ros::Time::now() + ros::Duration(10);
-    bool planning_failed = false;
     while (ros::ok())
     {
       pubMapLocal();
@@ -276,7 +274,6 @@ class Navigate : public ::testing::Test
 
       if (now > deadline)
       {
-        ROS_ERROR("FAILED");
         dumpRobotTrajectory();
         FAIL()
             << test_scope_ << "/" << name << ": Navigation timeout." << std::endl
@@ -286,7 +283,6 @@ class Navigate : public ::testing::Test
 
       if (planner_status_->error == expected_error)
       {
-        ROS_ERROR("SUCCEEDED");
         return;
       }
     }