diff --git a/core/src/stages/fix_collision_objects.cpp b/core/src/stages/fix_collision_objects.cpp index 6bfffca8..4aa62d8d 100644 --- a/core/src/stages/fix_collision_objects.cpp +++ b/core/src/stages/fix_collision_objects.cpp @@ -83,6 +83,7 @@ bool FixCollisionObjects::fixCollisions(planning_scene::PlanningScene &scene, st { const auto& props = properties(); double penetration = props.get("max_penetration"); + (void) penetration; // not used (yet) collision_detection::CollisionRequest req; collision_detection::CollisionResult res; diff --git a/core/src/stages/move_to.cpp b/core/src/stages/move_to.cpp index 0fc03836..96183115 100644 --- a/core/src/stages/move_to.cpp +++ b/core/src/stages/move_to.cpp @@ -140,7 +140,7 @@ void MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP bool has_joint_state_goal; try { - has_joint_state_goal= getJointStateGoal(scene->getCurrentStateNonConst()); + has_joint_state_goal = getJointStateGoal(scene->getCurrentStateNonConst()); } catch (const InitStageException &e) { ROS_WARN_STREAM_NAMED("MoveTo", e.what()); return; @@ -148,17 +148,17 @@ void MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP size_t cartesian_goals = props.countDefined({"pose", "point"}); - if (cartesian_goals > 1){ + if (cartesian_goals > 1) { ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Multiple Cartesian goals defined"); return; } - if (cartesian_goals > 0 && has_joint_state_goal){ + if (cartesian_goals > 0 && has_joint_state_goal) { ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Cartesian goals and joint state goals defined"); return; } - if (cartesian_goals == 0 && !has_joint_state_goal){ + if (cartesian_goals == 0 && !has_joint_state_goal) { ROS_WARN_NAMED("MoveTo", "No goal defined"); return; }