Fixed a typo and removed some commentaries

include/tiago_arm_module/tiago_arm_bt_module.h

@@ -405,7 +405,7 @@ class CTiagoArmModuleBT
       * If inputs are missing or incorrect it also returns BT:NodeStatus::FAILURE.
       *
       */
-    BT::NodeStatus syn_cancel_tiago_arm_action(void);
+    BT::NodeStatus sync_cancel_tiago_arm_action(void);
 
     /**
       * \brief Async stop TIAGo arm function.
@@ -421,7 +421,7 @@ class CTiagoArmModuleBT
       * it also returns BT:NodeStatus::FAILURE
       *
       */
-    BT::NodeStatus asyn_cancel_tiago_arm_action(void);
+    BT::NodeStatus async_cancel_tiago_arm_action(void);
 
     /**
       * \brief Checks if the module is idle and there isn't any new movement request.

src/tiago_arm_bt_module.cpp

@@ -12,8 +12,6 @@ void CTiagoArmModuleBT::init(IriBehaviorTreeFactory &factory)
   //Definition of ports
   BT::PortsList set_workspace_ports = {BT::InputPort<std::string>("frame_id"), BT::InputPort<double>("x_min"), BT::InputPort<double>("y_min"), BT::InputPort<double>("z_min"), BT::InputPort<double>("x_max"), BT::InputPort<double>("y_max"), BT::InputPort<double>("z_max")};
   
-  // BT::PortsList sync_arm_move_to_joints_ports = {BT::InputPort<std::vector<std::string> >("joint_names"), BT::InputPort<std::vector<double> >("joint_positions"), BT::InputPort<double>("joint_tol")};
-  // BT::PortsList async_arm_move_to_joints_ports = {BT::InputPort<std::vector<std::string> >("joint_names"), BT::InputPort<std::vector<double> >("joint_positions"), BT::InputPort<double>("joint_tol"), BT::BidirectionalPort<bool>("new_goal")};
   BT::PortsList sync_arm_move_to_joints_ports = {BT::InputPort<sensor_msgs::JointState>("target_joints"), BT::InputPort<double>("joint_tol")};
   BT::PortsList async_arm_move_to_joints_ports = {BT::InputPort<sensor_msgs::JointState>("target_joints"), BT::InputPort<double>("joint_tol"), BT::BidirectionalPort<bool>("new_goal")};
 
@@ -57,8 +55,8 @@ void CTiagoArmModuleBT::init(IriBehaviorTreeFactory &factory)
   //Registration of actions
   factory.registerIriAsyncAction("async_is_tiago_arm_finished",  std::bind(&CTiagoArmModuleBT::async_is_tiago_arm_finished, this));
 
-  factory.registerSimpleAction("syn_cancel_tiago_arm_action",  std::bind(&CTiagoArmModuleBT::syn_cancel_tiago_arm_action, this));
-  factory.registerSimpleAction("asyn_cancel_tiago_arm_action",  std::bind(&CTiagoArmModuleBT::asyn_cancel_tiago_arm_action, this));
+  factory.registerSimpleAction("sync_cancel_tiago_arm_action",  std::bind(&CTiagoArmModuleBT::sync_cancel_tiago_arm_action, this));
+  factory.registerSimpleAction("async_cancel_tiago_arm_action",  std::bind(&CTiagoArmModuleBT::async_cancel_tiago_arm_action, this));
 
   factory.registerSimpleAction("set_tiago_arm_workspace",  std::bind(&CTiagoArmModuleBT::set_tiago_arm_workspace, this, std::placeholders::_1), set_workspace_ports);
 
@@ -134,23 +132,17 @@ BT::NodeStatus CTiagoArmModuleBT::set_tiago_arm_workspace(BT::TreeNode& self)
 BT::NodeStatus CTiagoArmModuleBT::sync_tiago_arm_move_to_joints(BT::TreeNode& self)
 {
   ROS_DEBUG("CTiagoArmModuleBT::sync_tiago_arm_move_to_joints-> sync_tiago_arm_move_to_joints");
-  // BT::Optional<std::vector<std::string> > joint_names = self.getInput<std::vector<std::string> >("joint_names");
-  // BT::Optional<std::vector<double> > joint_positions = self.getInput<std::vector<double> >("joint_positions");
   BT::Optional<sensor_msgs::JointState> target_joints = self.getInput<sensor_msgs::JointState>("target_joints");
   BT::Optional<double> joint_tol = self.getInput<double>("joint_tol");
 
   sensor_msgs::JointState target_joints_goal;
   double joint_tol_goal;
-  // if (!joint_names || !joint_positions)
   if (!target_joints)
   {
-    // ROS_ERROR("CTiagoArmModuleBT::sync_tiago_arm_move_to_joints-> Incorrect or missing input. It needs the following input ports: joint_names(std::vector<std::string>), joint_positions(std::vector<double>) and [Optional] joint_tol(double)");
     ROS_ERROR("CTiagoArmModuleBT::sync_tiago_arm_move_to_joints-> Incorrect or missing input. It needs the following input ports: target_joints(sensor_msgs::JointState) and [Optional] joint_tol(double)");
     return BT::NodeStatus::FAILURE;
   }
 
-  // target_joints_goal.name = joint_names.value();
-  // target_joints_goal.position = joint_positions.value();
   target_joints_goal = target_joints.value();
   if (!joint_tol)
   {
@@ -169,8 +161,6 @@ BT::NodeStatus CTiagoArmModuleBT::sync_tiago_arm_move_to_joints(BT::TreeNode& se
 BT::NodeStatus CTiagoArmModuleBT::async_tiago_arm_move_to_joints(BT::TreeNode& self)
 {
   ROS_DEBUG("CTiagoArmModuleBT::sync_tiago_arm_move_to_joints-> sync_tiago_arm_move_to_joints");
-  // BT::Optional<std::vector<std::string> > joint_names = self.getInput<std::vector<std::string> >("joint_names");
-  // BT::Optional<std::vector<double> > joint_positions = self.getInput<std::vector<double> >("joint_positions");
   BT::Optional<sensor_msgs::JointState> target_joints = self.getInput<sensor_msgs::JointState>("target_joints");
   BT::Optional<double> joint_tol = self.getInput<double>("joint_tol");
   BT::Optional<bool> new_goal_in = self.getInput<bool>("new_goal");
@@ -185,16 +175,12 @@ BT::NodeStatus CTiagoArmModuleBT::async_tiago_arm_move_to_joints(BT::TreeNode& s
   {
     sensor_msgs::JointState target_joints_goal;
     double joint_tol_goal;
-    // if (!joint_names || !joint_positions)
     if (!target_joints)
     {
-      // ROS_ERROR("CTiagoArmModuleBT::sync_tiago_arm_move_to_joints-> Incorrect or missing input. It needs the following input ports: joint_names(std::vector<std::string>), joint_positions(std::vector<double>) and [Optional] joint_tol(double)");
       ROS_ERROR("CTiagoArmModuleBT::sync_tiago_arm_move_to_joints-> Incorrect or missing input. It needs the following input ports: target_joints(sensor_msgs::JointState) and [Optional] joint_tol(double)");
       return BT::NodeStatus::FAILURE;
     }
 
-    // target_joints_goal.name = joint_names.value();
-    // target_joints_goal.position = joint_positions.value();
     target_joints_goal = target_joints.value();
     if (!joint_tol)
     {
@@ -480,16 +466,16 @@ BT::NodeStatus CTiagoArmModuleBT::get_tiago_arm_velocity_scale_factor(BT::TreeNo
   return BT::NodeStatus::SUCCESS;
 }
 
-BT::NodeStatus CTiagoArmModuleBT::syn_cancel_tiago_arm_action(void)
+BT::NodeStatus CTiagoArmModuleBT::sync_cancel_tiago_arm_action(void)
 {
-  ROS_DEBUG("CTiagoArmModuleBT::syn_cancel_tiago_arm_action-> syn_cancel_tiago_arm_action");
+  ROS_DEBUG("CTiagoArmModuleBT::sync_cancel_tiago_arm_action-> sync_cancel_tiago_arm_action");
   this->tiago_arm_module.stop();
   return BT::NodeStatus::SUCCESS;
 }
 
-BT::NodeStatus CTiagoArmModuleBT::asyn_cancel_tiago_arm_action(void)
+BT::NodeStatus CTiagoArmModuleBT::async_cancel_tiago_arm_action(void)
 {
-  ROS_DEBUG("CTiagoArmModuleBT::asyn_cancel_tiago_arm_action-> asyn_cancel_tiago_arm_action");
+  ROS_DEBUG("CTiagoArmModuleBT::async_cancel_tiago_arm_action-> async_cancel_tiago_arm_action");
   this->tiago_arm_module.stop();
   if (this->tiago_arm_module.is_finished())
   {