Remove some TODO's

moveit · May 5, 2021 · 62a2020 · 62a2020
1 parent c2cceac
commit 62a2020
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diff --git a/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h b/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
@@ -35,8 +35,6 @@
 #pragma once
 
 #include <Eigen/Geometry>
-// TODO(henning) remove?
-// #include <eigen_conversions/eigen_kdl.h>
 #include <tf2_eigen/tf2_eigen.h>
 #include <kdl/trajectory.hpp>
 #include <moveit/robot_model/robot_model.h>

diff --git a/moveit_planners/pilz_industrial_motion_planner/package.xml b/moveit_planners/pilz_industrial_motion_planner/package.xml
@@ -30,9 +30,6 @@
   <depend>moveit_core</depend>
   <depend>moveit_ros_planning</depend> <!-- RobotModelLoader -->
   <depend>moveit_ros_move_group</depend> <!-- move_group capability -->
-  <!-- TODO(henning): Remove?
-  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
-  -->
   <depend>liborocos-kdl-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp b/moveit_planners/pilz_industrial_motion_planner/src/command_list_manager.cpp
@@ -60,12 +60,10 @@ CommandListManager::CommandListManager(const rclcpp::Node::SharedPtr& node,
   // Obtain the aggregated joint limits
   pilz_industrial_motion_planner::JointLimitsContainer aggregated_limit_active_joints;
 
-  // TODO(henning): pass PARAM_NAMESPACE_LIMITS
   aggregated_limit_active_joints = pilz_industrial_motion_planner::JointLimitsAggregator::getAggregatedLimits(
       node_, PARAM_NAMESPACE_LIMITS, model_->getActiveJointModels());
 
   // Obtain cartesian limits
-  // TODO(henning): pass PARAM_NAMESPACE_LIMITS
   pilz_industrial_motion_planner::CartesianLimit cartesian_limit =
       pilz_industrial_motion_planner::CartesianLimitsAggregator::getAggregatedLimits(node_, PARAM_NAMESPACE_LIMITS);