From accedcd9cc240e9460a0f0f6a915e375147f24b5 Mon Sep 17 00:00:00 2001
From: Gary Servin <garyservin@gmail.com>
Date: Thu, 26 Feb 2015 17:40:41 -0300
Subject: [PATCH] Remove unnecessary logging from move_base example

---
 .../move_base_app/jni/src/test_move_base.cpp  | 36 +------------------
 1 file changed, 1 insertion(+), 35 deletions(-)

diff --git a/files/move_base_app/jni/src/test_move_base.cpp b/files/move_base_app/jni/src/test_move_base.cpp
index fa52478..4ff67ac 100644
--- a/files/move_base_app/jni/src/test_move_base.cpp
+++ b/files/move_base_app/jni/src/test_move_base.cpp
@@ -1,23 +1,8 @@
-#include <stdarg.h>
-#include <stdio.h>
-#include <sstream>
-#include <map>
-#include <string.h>
-#include <errno.h>
-#include <vector>
-#include <set>
-#include <fstream>
-#include <android/log.h>
-// %Tag(FULL_TEXT)%
-
-// %Tag(ROS_HEADER)%
 #include "ros/ros.h"
 #include <move_base/move_base.h>
-// %EndTag(ROS_HEADER)%
 
-// %Tag(ANDROID_NATIVE_HEADER)%
 #include <android_native_app_glue.h>
-// %EndTag(ANDROID_NATIVE_HEADER)%
+#include <android/log.h>
 
 void log(const char *msg, ...) {
     va_list args;
@@ -26,32 +11,21 @@ void log(const char *msg, ...) {
     va_end(args);
 }
 
-
-// %Tag(MAIN)%
 void android_main(android_app *papp) {
     // Make sure glue isn't stripped
     app_dummy();
 
     int argc = 4;
     // TODO: don't hardcode ip addresses
-    // %Tag(CONF_ARGS)%
     char *argv[] = {"nothing_important" , "__master:=http://192.168.1.100:11311",
                     "__ip:=192.168.1.101", "cmd_vel:=navigation_velocity_smoother/raw_cmd_vel"};
-    // %EndTag(CONF_ARGS)%
-
-    log("GOING TO ROS INIT");
 
     for(int i = 0; i < argc; i++){
         log(argv[i]);
     }
 
-    // %Tag(ROS_INIT)%
     ros::init(argc, &argv[0], "move_base");
-    // %EndTag(ROS_INIT)%
-
-    log("GOING TO NODEHANDLE");
 
-    // %Tag(ROS_MASTER)%
     std::string master_uri = ros::master::getURI();
 
     if(ros::master::check()){
@@ -62,21 +36,13 @@ void android_main(android_app *papp) {
     log(master_uri.c_str());
 
     ros::NodeHandle n;
-    // %EndTag(ROS_MASTER)%
 
-    log("GOING TO MOVE_BASE");
     tf::TransformListener tf(ros::Duration(10));
     move_base::MoveBase move_base(tf);
 
-    log("GOING TO SPIN");
-
     ros::WallRate loop_rate(100);
-    // %Tag(ROS_SPIN)%
     while(ros::ok() && !papp->destroyRequested){
         ros::spinOnce();
         loop_rate.sleep();
     }
-    // %EndTag(ROS_SPIN)%
 }
-// %EndTag(MAIN)%
-// %EndTag(FULL_TEXT)%