From 355e22f03a2675a844fc181e60aebb58f53c0c43 Mon Sep 17 00:00:00 2001
From: Adam Allevato <adam.d.allevato@gmail.com>
Date: Fri, 18 Aug 2017 12:05:18 -0500
Subject: [PATCH] Changed warnings to infos, made it easier to uncomment arm 0
 pos

---
 hlpr_gazebo/launch/vector_controllers.launch | 3 ++-
 hlpr_gazebo/src/vector_control_interface.py  | 6 +++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/hlpr_gazebo/launch/vector_controllers.launch b/hlpr_gazebo/launch/vector_controllers.launch
index 5dbc083..23da053 100644
--- a/hlpr_gazebo/launch/vector_controllers.launch
+++ b/hlpr_gazebo/launch/vector_controllers.launch
@@ -37,7 +37,8 @@
     <!-- Setup initial simulation positions -->
     <node name="r_sim_setup" pkg="hlpr_gazebo" type="body_part_setup.py" output="screen"
             args="vector/right_arm">
-        <!--param name="init_position" value="0, 3.14, 3.14, 0, 0, 0"/ ZERO CONFIG (straight out)-->
+        <!-- ZERO CONFIG (straight out) -->
+        <!-- <param name="init_position" value="0, 3.14, 3.14, 0, 0, 0"/> --> 
         <param name="init_position" value="-1.92, 1.50, 0.53, -2.50, -2.91, 0.72"/>
     </node>
 
diff --git a/hlpr_gazebo/src/vector_control_interface.py b/hlpr_gazebo/src/vector_control_interface.py
index 2df79a2..c1e649b 100755
--- a/hlpr_gazebo/src/vector_control_interface.py
+++ b/hlpr_gazebo/src/vector_control_interface.py
@@ -131,15 +131,15 @@ def __init__(self):
         self.gripper_cmd[self.RIGHT_KEY] = None
 
         # Initialize components for moveit IK service
-        rospy.logwarn("Waiting for MoveIt! for 10 seconds...")
+        rospy.loginfo("Waiting for MoveIt! for 10 seconds...")
         try:
             rospy.wait_for_service('compute_ik', timeout=10.0)  # Wait for 10 seconds and assumes we don't want IK
             self.compute_ik = rospy.ServiceProxy('compute_ik', GetPositionIK)
         except rospy.ROSException, e:
-            rospy.logwarn("MoveIt was not loaded and arm teleop will not be available")
+            rospy.loginfo("MoveIt was not loaded and arm teleop will not be available")
             self.compute_ik = None 
         else: 
-            rospy.logwarn("MoveIt detected")
+            rospy.loginfo("MoveIt detected")
             self.eef_sub = rospy.Subscriber('/vector/right_arm/cartesian_vel_cmd', JacoCartesianVelocityCmd, self.EEFCallback, queue_size=1)
 
         rospy.loginfo("Done Init")