From 158ae30a7428a39d41e9deef2a9c79b1f763ad08 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 1 Jul 2020 07:41:23 -0500
Subject: [PATCH] Minor moveit_servo header cleanup (#2173)

---
 .../moveit_servo/include/moveit_servo/collision_check.h     | 2 --
 .../include/moveit_servo/joint_state_subscriber.h           | 3 +--
 moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h  | 6 +-----
 3 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
index 845b5dac84..6b9610d6ce 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/collision_check.h
@@ -38,8 +38,6 @@
 
 #pragma once
 
-#include <mutex>
-
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <sensor_msgs/JointState.h>
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
index 48d362123a..8300134bab 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/joint_state_subscriber.h
@@ -50,8 +50,7 @@ namespace moveit_servo
 class JointStateSubscriber
 {
 public:
-  /** \brief Constructor
-   */
+  /** \brief Constructor */
   JointStateSubscriber(ros::NodeHandle& nh, const std::string& joint_state_topic_name);
 
   /** \brief Get the latest joint state message */
diff --git a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
index 569216238c..a8f676033a 100644
--- a/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
+++ b/moveit_ros/moveit_servo/include/moveit_servo/servo_calcs.h
@@ -38,9 +38,6 @@
 
 #pragma once
 
-// System
-#include <mutex>
-
 // ROS
 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
@@ -185,8 +182,7 @@ class ServoCalcs
   bool changeDriftDimensions(moveit_msgs::ChangeDriftDimensions::Request& req,
                              moveit_msgs::ChangeDriftDimensions::Response& res);
 
-  /** \brief Start the main calculation timer */
-  // Service callback for changing servoing dimensions
+  /** \brief Service callback for changing servoing dimensions (e.g. ignore rotation about X) */
   bool changeControlDimensions(moveit_msgs::ChangeControlDimensions::Request& req,
                                moveit_msgs::ChangeControlDimensions::Response& res);