Removed commented lines from planning server

snp_motion_planning/src/planning_server.cpp

@@ -634,8 +634,6 @@ class PlanningServer
 
       tesseract_planning::CompositeInstruction freespace_program(PROFILE, tesseract_planning::CompositeInstructionOrder::ORDERED,
                                                                  manip_info);
-      // tesseract_planning::CompositeInstruction repeat_process(PROFILE);
-      // repeat_process.setDescription("repeat_process");
 
       tesseract_planning::JointWaypoint wp1 = rosJointStateToJointWaypoint(req->js1);
       tesseract_planning::JointWaypoint wp2 = rosJointStateToJointWaypoint(req->js2);
@@ -650,28 +648,6 @@ class PlanningServer
           tesseract_planning::MoveInstruction(tesseract_planning::JointWaypointPoly{wp2},
                                               tesseract_planning::MoveInstructionType::FREESPACE, PROFILE, manip_info));
 
-      // Add the composite to the program
-      // freespace_program.push_back(repeat_process);
-
-      // Create a manipulator info and program from the service request
-      // const std::string& base_frame = req->tool_paths.at(0).segments.at(0).header.frame_id;
-      // if (base_frame.empty())
-      // {
-      //   throw std::runtime_error("Base frame is empty!");
-      // }
-      // if (req->motion_group.empty())
-      // {
-      //   throw std::runtime_error("Motion group is empty!");
-      // }
-      // if (req->tcp_frame.empty())
-      // {
-      //   throw std::runtime_error("TCP frame is empty!");
-      // }
-      // tesseract_common::ManipulatorInfo manip_info(req->motion_group, base_frame, req->tcp_frame);
-
-      // Set up composite instruction and environment
-      // tesseract_planning::CompositeInstruction program = createProgram(manip_info, fromMsg(req->tool_paths));
-
       // Add the scan link to the planning environment
       addScanLink(req->mesh_filename, req->mesh_frame);
 
@@ -680,18 +656,9 @@ class PlanningServer
       auto freespace_task_name = get<std::string>(node_, FREESPACE_TASK_NAME_PARAM);
       tesseract_planning::CompositeInstruction program_results = plan(freespace_program, pd, freespace_task_name);
 
-      // Remove scan link?
+      // Remove scan link
       removeScanLink();
 
-      // if (program_results.size() != 1)
-      // {
-      //   std::stringstream ss;
-      //   ss << "The composite instruction must have at least 1 child. "
-      //         "This result only has "
-      //      << program_results.size();
-      //   throw std::runtime_error(ss.str());
-      // }
-
       // Return results
 
       res->trajectory = tesseract_rosutils::toMsg(toJointTrajectory(program_results), env_->getState());