Fix warning and cleanup unneeded placeholders

sjahr · Dec 1, 2023 · e627e49 · e627e49
1 parent bddab3f
commit e627e49
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -133,10 +133,12 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
   void discover(bool force = false)
   {
     // Skip if controller stamp is too new for new discovery, enforce update if force==true
-    if (!force && ((node_->now() - controllers_stamp_) < CONTROLLER_INFORMATION_VALIDITY_AGE))
+    const auto CONTROLLER_INFORMATION_AGE = node_->now() - controllers_stamp_;
+    if (!force && (CONTROLLER_INFORMATION_AGE > CONTROLLER_INFORMATION_VALIDITY_AGE))
     {
-      RCLCPP_WARN_STREAM(LOGGER, "Controller information from " << list_controllers_service_->get_service_name()
-                                                                << " is out of date, skipping discovery");
+      RCLCPP_WARN_STREAM(LOGGER, "Controller information from "
+                                     << list_controllers_service_->get_service_name() << " is out of date ("
+                                     << CONTROLLER_INFORMATION_AGE.seconds() << "s old), skipping discovery");
       return;
     }
 

diff --git a/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp b/moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
@@ -52,9 +52,6 @@ MoveGroupExecuteTrajectoryAction::MoveGroupExecuteTrajectoryAction() : MoveGroup
 
 void MoveGroupExecuteTrajectoryAction::initialize()
 {
-  using std::placeholders::_1;
-  using std::placeholders::_2;
-
   auto node = context_->moveit_cpp_->getNode();
   // start the move action server
   execute_action_server_ = rclcpp_action::create_server<ExecTrajectory>(