From 2e51e13ec243a42dcb2ca8604bea2632a6f9a1f2 Mon Sep 17 00:00:00 2001
From: Yadunund <yadunund@openrobotics.org>
Date: Mon, 1 Aug 2022 18:09:04 +0800
Subject: [PATCH] Undo changes

Signed-off-by: Yadunund <yadunund@openrobotics.org>
---
 rmf_fleet_adapter/CMakeLists.txt                      |  2 ++
 .../src/rmf_traffic_ros2/convert_Graph.cpp            | 11 +----------
 2 files changed, 3 insertions(+), 10 deletions(-)

diff --git a/rmf_fleet_adapter/CMakeLists.txt b/rmf_fleet_adapter/CMakeLists.txt
index d05b8b631..0bd3da7fe 100644
--- a/rmf_fleet_adapter/CMakeLists.txt
+++ b/rmf_fleet_adapter/CMakeLists.txt
@@ -111,6 +111,8 @@ target_include_directories(rmf_fleet_adapter
     ${rmf_dispenser_msgs_INCLUDE_DIRS}
     ${rmf_ingestor_msgs_INCLUDE_DIRS}
     ${rmf_api_msgs_INCLUDE_DIRS}
+    ${rmf_websocket_INCLUDE_DIR}
+    ${rmf_traffic_ros2_INCLUDE_DIRS}
     ${rmf_building_map_msgs_INCLUDE_DIRS}
     ${nlohmann_json_schema_validator_INCLUDE_DIRS}
 )
diff --git a/rmf_traffic_ros2/src/rmf_traffic_ros2/convert_Graph.cpp b/rmf_traffic_ros2/src/rmf_traffic_ros2/convert_Graph.cpp
index 082cd18f0..7aec4ddbb 100644
--- a/rmf_traffic_ros2/src/rmf_traffic_ros2/convert_Graph.cpp
+++ b/rmf_traffic_ros2/src/rmf_traffic_ros2/convert_Graph.cpp
@@ -23,8 +23,6 @@
 #include <proj.h>
 #include <nlohmann/json.hpp>
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <rmf_traffic_ros2/agv/Graph.hpp>
 
 #include <rmf_building_map_msgs/msg/graph_node.hpp>
@@ -35,13 +33,6 @@
 
 namespace rmf_traffic_ros2 {
 
-namespace {
-
-static const rclcpp::Logger LOGGER =
-  rclcpp::get_logger("rmf_traffic_ros2::ConvertGraph");
-
-} // anonymous namespace
-
 // Usage map[level_idx][truncated_x][truncated_y] = id;
 // Truncation is to 1e-3 meters by default
 using CoordsIdxHashMap = std::unordered_map<std::size_t, std::unordered_map<
@@ -340,7 +331,7 @@ rmf_traffic::agv::Graph json_to_graph(
     }
 
     // dock_name is only applied to the lane going to the waypoint, not exiting
-    const rmf_traffic::Duration duration = std::chrono::nanoseconds(5);
+    const rmf_traffic::Duration duration = std::chrono::seconds(5);
     if (dock_name.has_value())
       entry_event = Event::make(Lane::Dock(dock_name.value(), duration));
     auto& lane = graph.add_lane({start_wp, entry_event},