[src] Edit configure from file

robotics-88 · Mar 21, 2023 · 8fd5d58 · 8fd5d58
1 parent ba3e013
commit 8fd5d58
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Showing 3 changed files with 6 additions and 18 deletions.
diff --git a/src/BestFrontier.cpp b/src/BestFrontier.cpp
@@ -13,16 +13,12 @@ namespace best_frontier
 	{
 		ros::NodeHandle private_nh {ros::NodeHandle("~")};
 
-		string username = "/home/";
-		username = username + getenv("USER") + "";
-		m_logfile.open(username + "/log_best_frontier.txt");
+		m_logfile.open("/log_best_frontier.txt");
 		m_logfile << "This is a log file for BestFrontier" << endl;
 
 		// Read from yaml file
 		private_nh.param("exploration_config_filename", m_configFilename, m_configFilename);
-		size_t found = m_configFilename.find(username);
-		if (found != string::npos) configureFromFile(m_configFilename);
-		else configureFromFile(username + m_configFilename);
+		configureFromFile(m_configFilename);
 	}
 
 	bool BestFrontier::configureFromFile(string config_filename)

diff --git a/src/FrontierServer.cpp b/src/FrontierServer.cpp
@@ -16,13 +16,9 @@ namespace frontier_server
 
 		// Read from yaml file
 		private_nh.param("exploration_config_filename", m_configFilename, m_configFilename);
-		string username = "/home/";
-		username = username + getenv("USER") + "";
-		size_t found = m_configFilename.find(username);
-		if (found != string::npos) configureFromFile(m_configFilename);
-		else configureFromFile(username + m_configFilename);
+		configureFromFile(m_configFilename);
 
-		m_logfile.open(username + "/log_frontier.txt");
+		m_logfile.open("/log_frontier.txt");
 		m_logfile << "This is a log file for 3D-Frontier" << endl;
 
 		// Initialize publishers

diff --git a/src/OctomapServer.cpp b/src/OctomapServer.cpp
@@ -15,13 +15,9 @@ namespace octomap_server
 
 		// Read from yaml file
 		private_nh.param("exploration_config_filename", m_configFilename, m_configFilename);
-		string username = "/home/";
-		username = username + getenv("USER") + "";
-		size_t found = m_configFilename.find(username);
-		if (found != string::npos) configureFromFile(m_configFilename);
-		else configureFromFile(username + m_configFilename);
+		configureFromFile(m_configFilename);
 
-		m_logfile.open(username + "/log_octomap.txt");
+		m_logfile.open("log_octomap.txt");
 		m_logfile << "This is a log file for OctomapServer." << endl;
 
 		// Initialize octomap object and params