Address Jere's feedback

moveit · Nov 15, 2022 · e497736 · e497736
1 parent a7571a0
commit e497736
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -85,7 +85,11 @@ class ServoCalcs
 
   ~ServoCalcs();
 
-  /** \brief Start the timer where we do work and publish outputs */
+  /**
+   * Start the timer where we do work and publish outputs
+   *
+   * @exception can throw a std::runtime_error if the setup was not completed
+   */
   void start();
 
   /**

diff --git a/moveit_ros/moveit_servo/src/servo_calcs.cpp b/moveit_ros/moveit_servo/src/servo_calcs.cpp
@@ -251,8 +251,7 @@ void ServoCalcs::start()
   auto check_link_is_known = [this](const std::string& frame_name) {
     if (!current_state_->knowsFrameTransform(frame_name))
     {
-      std::string error_string = "Unknown frame: " + frame_name;
-      throw std::runtime_error(error_string);
+      throw std::runtime_error{ "Unknown frame: " + frame_name };
     }
   };
   check_link_is_known(parameters_->planning_frame);