Fix loop_time

moveit · Jun 13, 2019 · a527755 · a527755
1 parent 082b80f
commit a527755
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
@@ -171,7 +171,6 @@ int PR2ArmIKSolver::cartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame&
   double initial_guess = q_init(free_angle_);
 
   rclcpp::Time start_time = rclcpp::Clock().now();
-  rclcpp::Time time;
   double loop_time = 0;
   int count = 0;
 
@@ -193,8 +192,7 @@ int PR2ArmIKSolver::cartToJntSearch(const KDL::JntArray& q_in, const KDL::Frame&
     q_init(free_angle_) = initial_guess + search_discretization_angle_ * count;
     if (verbose)
       RCLCPP_WARN(LOGGER_PR2_ARM_KINEMATICS_PLUGIN, "%d, %f", count, q_init(free_angle_));
-    time = rclcpp::Clock().now();
-    loop_time = time.seconds() - start_time.seconds();
+    loop_time = rclcpp::Clock().now().seconds() - start_time.seconds();
   }
   if (loop_time >= timeout)
   {