Fix Jafar's change requests

moveit · Jun 17, 2022 · 7c47532 · 7c47532
1 parent 5145e0c
commit 7c47532
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Showing 3 changed files with 6 additions and 13 deletions.
diff --git a/core/src/stages/action_base.cpp b/core/src/stages/action_base.cpp
@@ -44,8 +44,8 @@ constexpr char LOGNAME[] = "action_base";
 
 ActionBase::ActionBase(const std::string& action_name, bool spin_thread, double goal_timeout, double server_timeout)
   : action_name_(action_name), server_timeout_(server_timeout), goal_timeout_(goal_timeout) {
-	clientPtr_.reset(
-	    new actionlib::SimpleActionClient<grasping_msgs::GraspPlanningAction>(nh_, action_name_, spin_thread));
+	clientPtr_ = std::make_unique<actionlib::SimpleActionClient<grasping_msgs::GraspPlanningAction>>(nh_, action_name_,
+	                                                                                                 spin_thread);
 
 	// Negative timeouts are set to zero
 	server_timeout_ = server_timeout_ < std::numeric_limits<double>::epsilon() ? 0.0 : server_timeout_;
@@ -57,14 +57,7 @@ ActionBase::ActionBase(const std::string& action_name, bool spin_thread, double
 }
 
 ActionBase::ActionBase(const std::string& action_name, bool spin_thread)
-  : action_name_(action_name), server_timeout_(0.0), goal_timeout_(0.0) {
-	clientPtr_.reset(
-	    new actionlib::SimpleActionClient<grasping_msgs::GraspPlanningAction>(nh_, action_name_, spin_thread));
-
-	ROS_DEBUG_STREAM_NAMED(LOGNAME, "Waiting for connection to grasp generation action server...");
-	clientPtr_->waitForServer(ros::Duration(server_timeout_));
-	ROS_DEBUG_STREAM_NAMED(LOGNAME, "Connected to server");
-}
+  : ActionBase::ActionBase(action_name, spin_thread, 0.0, 0.0) {}
 }  // namespace stages
 }  // namespace task_constructor
 }  // namespace moveit
diff --git a/core/src/stages/grasp_provider.cpp b/core/src/stages/grasp_provider.cpp
@@ -159,7 +159,7 @@ void GraspProvider::compute() {
 	composeGoal();
 
 	// monitor feedback/results
-	// blocking function untill timeout reached or results received
+	// blocking function until timeout reached or results received
 	if (monitorGoal()) {
 		// Protect grasp candidate incase feedback is being recieved asynchronously
 		const std::lock_guard<std::mutex> lock(grasp_mutex_);

diff --git a/msgs/CMakeLists.txt b/msgs/CMakeLists.txt
@@ -33,6 +33,6 @@ generate_messages(DEPENDENCIES ${MSG_DEPS})
 
 catkin_package(
 	CATKIN_DEPENDS
-	message_runtime
-	${MSG_DEPS}
+		message_runtime
+		${MSG_DEPS}
 )