From bbf3e02cdcd596bd8b512a8d9c78451da66657e4 Mon Sep 17 00:00:00 2001
From: Hyunseok Yang <hyunseok7.yang@lge.com>
Date: Fri, 14 Aug 2020 15:54:42 +0900
Subject: [PATCH] Code cleanup in Devices - IMU - Lidar

---
 Assets/Scripts/Devices/IMU.cs   | 8 ++------
 Assets/Scripts/Devices/Lidar.cs | 1 -
 2 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/Assets/Scripts/Devices/IMU.cs b/Assets/Scripts/Devices/IMU.cs
index 824f2999..3d5fc49d 100644
--- a/Assets/Scripts/Devices/IMU.cs
+++ b/Assets/Scripts/Devices/IMU.cs
@@ -6,7 +6,6 @@
 
 using System.Collections;
 using UnityEngine;
-using Stopwatch = System.Diagnostics.Stopwatch;
 using messages = gazebo.msgs;
 
 namespace SensorDevices
@@ -86,14 +85,11 @@ void FixedUpdate()
 
 		protected override IEnumerator MainDeviceWorker()
 		{
-			var sw = new Stopwatch();
+			var waitForSeconds = new WaitForSeconds(UpdatePeriod);
 			while (true)
 			{
-				sw.Restart();
 				GenerateMessage();
-				sw.Stop();
-
-				yield return new WaitForSeconds(WaitPeriod((float)sw.Elapsed.TotalSeconds));
+				yield return waitForSeconds;
 			}
 		}
 
diff --git a/Assets/Scripts/Devices/Lidar.cs b/Assets/Scripts/Devices/Lidar.cs
index 2248b069..7a8dcfd2 100644
--- a/Assets/Scripts/Devices/Lidar.cs
+++ b/Assets/Scripts/Devices/Lidar.cs
@@ -262,7 +262,6 @@ private IEnumerator LaserCameraWorker()
 
 		protected override IEnumerator MainDeviceWorker()
 		{
-			// var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustCapturingRate);
 			var sw = new Stopwatch();
 			while (true)
 			{