修改依赖

rm_arm_control/CMakeLists.txt

@@ -11,8 +11,6 @@ endif()
 add_compile_options(-g)
 
 #set(CMAKE_BUILD_TYPE Release)
-set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
-set(CGAL_DATA_DIR ".")
 
 # 全局设置 C++ 编译选项
 # set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
@@ -54,7 +52,6 @@ find_package(trajectory_msgs REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(gjk_interface REQUIRED)
 find_package(interfaces REQUIRED)
-find_package(CGAL REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 
@@ -71,7 +68,6 @@ set(SOURCES
     simulator/rm_arm_simulator.cpp
     simulator/trapezoidal_trajectory_kinematics.cpp
     simulator/rm_driver_kinematics.cpp
-    simulator/col_simulator.cpp
     src/goal_manager.cpp
     driver/arm_driver.cpp
     driver/rm_arm_driver.cpp
@@ -100,7 +96,6 @@ find_library(RMAN_API_LIB NAMES api_cpp PATHS "${CMAKE_CURRENT_SOURCE_DIR}/Robot
 
 # 链接库
 target_link_libraries(rm_arm_control ${RMAN_API_LIB})
-target_link_libraries(rm_arm_control CGAL::CGAL)
 
 # 如果是 UNIX 平台且不是 ARM 平台，确保动态库文件可以在运行时被找到（这一步通常不是必须的，但在某些配置下可能需要）
 if(UNIX)

rm_arm_control/src/rm_arm_node.cpp

@@ -387,7 +387,6 @@ void RmArmNode::ArmActionCheck()
     // Execute the goal
     while (rclcpp::ok()) {
         if (!busy) {
-            RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Arm action check loop is idle, wait time %ld ns.", timeout.tv_nsec);
             int result = sem_timedwait(&sem_, &timeout);
             if (result == 0) {
                 if (leftArmHandler_ != NULL && (leftArmHandler_->armStatus == ARM_STATUS_READY)) {
@@ -396,8 +395,6 @@ void RmArmNode::ArmActionCheck()
                 if (rightArmHandler_ != NULL && (rightArmHandler_->armStatus == ARM_STATUS_READY)) {
                     StartNewGoal(rightArmHandler_);
                 }
-            } else {
-                RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Arm action check loop wait timeout.");
             }
         }
         int64_t currentTimeNs = get_clock()->now().nanoseconds();