Minor changes in joints module

humanoid_modules/include/humanoid_modules/joints_module.h

@@ -43,7 +43,7 @@ class CJointsModule : public CHumanoidModule<joints_module::JointsModuleConfig>
     CJointsModule(const std::string &name);
     /* control functions */
 //execute joints trajectory of a vector of servos id
-    bool execute(std::vector<unsigned int> &servos_id, std::vector<double> &angles, std::vector<double> &speeds, const std::vector<double> &accels=std::vector<double>());
+    void execute(std::vector<unsigned int> &servos_id, std::vector<double> &angles, std::vector<double> &speeds, const std::vector<double> &accels=std::vector<double>());
 //Add servo goal
     void add_goal(unsigned int servo_id, double angle, double speed, double acceleration);
 //Execute action with servos added (add_servo)

humanoid_modules/src/joints_module.cpp

@@ -2,9 +2,6 @@
 
 #define SERVO_ACCEL 0.3
 
-/**
- * cambiar funcion is-finished para que tmb tenga en cuenta el flag new_trajectory
- */
 CJointsModule::CJointsModule(const std::string &name) : CHumanoidModule(name,JOINTS_MODULE),
   joints_trajectory("joint_trajectory_action",name)
 {
@@ -134,7 +131,7 @@ void CJointsModule::reconfigure_callback(joints_module::JointsModuleConfig &conf
   this->unlock();
 }
 
-bool CJointsModule::execute(std::vector<unsigned int> &servos_id, std::vector<double> &angles, std::vector<double> &speeds,const std::vector<double> &accels)
+void CJointsModule::execute(std::vector<unsigned int> &servos_id, std::vector<double> &angles, std::vector<double> &speeds,const std::vector<double> &accels)
 {
   unsigned int i,j;
   bool servo_ok=true;
@@ -142,13 +139,6 @@ bool CJointsModule::execute(std::vector<unsigned int> &servos_id, std::vector<do
   this->lock();
   if(this->state==JOINTS_MODULE_IDLE)// trajectory is in progres
   {
-    /*Clear goal*/
-/*    goal.trajectory.joint_names.clear();
-    goal.trajectory.points[0].positions.clear();
-    goal.trajectory.points[0].velocities.clear();
-    goal.trajectory.points[0].accelerations.clear()*/;
-    /* clear vector */
-//    servos_name.clear();
      
     if(accels.size()>0)
     {
@@ -197,8 +187,7 @@ bool CJointsModule::execute(std::vector<unsigned int> &servos_id, std::vector<do
     this->new_trajectory=true;
   }
   this->unlock();
-  
-  return true;
+
 }
 
 void CJointsModule::execute_goal(void)