address some feedback

Author: Michael Wiznitzer

action/GlobalPlanner.action

@@ -1,6 +1,3 @@
-# This is a modified version of GlobalPlanner.action from ros-planning/moveit_msgs.
-# A JointTrajectory was added so that timing information is retained.
-
 # Motion planning request to the global planner
 string planning_group
 trajectory_msgs/JointTrajectory trajectory

msg/MotionPlanRequest.msg

@@ -53,15 +53,10 @@ float64 max_acceleration_scaling_factor
 
 # New joint limits to use when running time-parameterization and smoothing.
 # Note, this does not replace the values in the robot model.
-# Only applicable for TOTG and Ruckig
 # Set the 'has_limits' field to true for velocity, acceleration, and/or jerk
 # in order for that limit to be applied. Position limits are not supported.
 JointLimits[] joint_limits
 
-# If true, use the joint limits defined in the 'joint_limits' field.
-# Otherwise, use the max scaling factors defined for velocity and acceleration
-bool use_joint_limits
-
 # If true, smoothing will be skipped when applying a smoothing adapter during
 # trajectory processing (if it is defined as a request adapter).
 bool skip_smoothing