From 8118490ee65f7fbe26ed96985f07fc7e24750346 Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Tue, 23 Jul 2024 16:52:41 +0200
Subject: [PATCH] Remove unneccessary code lines
---
.../launch/kuka_rviz_simulation_1dof_launch.py | 2 +-
.../simple_robot_1dof/reference_node_1dof.py | 6 ------
2 files changed, 1 insertion(+), 7 deletions(-)
diff --git a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
index aeefeca..57b00f9 100644
--- a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
+++ b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
@@ -16,7 +16,7 @@ def generate_launch_description():
'forward_kinematics_simulations.rviz'
)
- velocity_launch_arg = DeclareLaunchArgument('velocity', default_value = '0.015') # constant: 0.015 acceleration: 0.005
+ velocity_launch_arg = DeclareLaunchArgument('velocity', default_value = '0.015')
velocity = LaunchConfiguration('velocity')
acceleration_launch_arg = DeclareLaunchArgument('acceleration', default_value = '0.0004')
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
index e870f1a..785aaee 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
+++ b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/reference_node_1dof.py
@@ -48,17 +48,11 @@ class Reference_Node_1DoF(Node):
if self.phi < self.slope:
self.phi = self.phi + self.velocity
self.velocity = self.velocity + self.acceleration
- self.get_logger().info('Acceleration phase')
- self.get_logger().info('%f' % self.velocity)
elif self.phi > 1 - self.slope:
self.phi = self.phi + self.velocity
self.velocity = self.velocity - self.decelaration
- self.get_logger().info('Decelaration phase')
- self.get_logger().info('%f' % self.velocity)
else:
self.phi = self.phi + self.velocity
- self.get_logger().info('Constant speed phase')
- self.get_logger().info('%f' % self.velocity)
#setting back to 0
if self.phi>self.phi_end:
--
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