Merge pull request #485 from gavanderhoorn/improve_warn_no_topic_list

Improve WARN and INFO msgs when topic_list parameter isn't found
ros-industrial · Mar 27, 2022 · 4c5e6af · 4c5e6af
2 parents 46b1d92 + 02afc3e
commit 4c5e6af
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Showing 4 changed files with 12 additions and 2 deletions.
diff --git a/motoman_driver/src/industrial_robot_client/joint_trajectory_action.cpp b/motoman_driver/src/industrial_robot_client/joint_trajectory_action.cpp
@@ -60,7 +60,15 @@ JointTrajectoryAction::JointTrajectoryAction() :
   pn.param("constraints/goal_threshold", goal_threshold_, DEFAULT_GOAL_THRESHOLD_);
 
   std::map<int, RobotGroup> robot_groups;
-  getJointGroups("topic_list", robot_groups);
+  if (!getJointGroups("topic_list", robot_groups))
+  {
+    // this is a WARN as this class is the multi-group version of the regular JTA,
+    // and we're actually expecting to find the 'topic_list' parameter, as using
+    // this multi-group version with a single-group system is unnecessary and also
+    // doesn't make much sense.
+    // It probably also won't work.
+    ROS_WARN("Expecting/assuming single motion-group controller configuration");
+  }
 
   for (size_t i = 0; i < robot_groups.size(); i++)
   {

diff --git a/motoman_driver/src/industrial_robot_client/joint_trajectory_interface.cpp b/motoman_driver/src/industrial_robot_client/joint_trajectory_interface.cpp
@@ -92,6 +92,7 @@ bool JointTrajectoryInterface::init(SmplMsgConnection* connection)
   }
   else
   {
+    ROS_INFO("Expecting/assuming single motion-group controller configuration");
     this->version_0_ = true;
     std::vector<std::string> joint_names;
     if (!getJointNames("controller_joint_names", "robot_description", joint_names))

diff --git a/motoman_driver/src/industrial_robot_client/motoman_utils.cpp b/motoman_driver/src/industrial_robot_client/motoman_utils.cpp
@@ -116,7 +116,7 @@ bool getJointGroups(const std::string topic_param, std::map<int, RobotGroup> & r
   }
   else
   {
-    ROS_ERROR_STREAM("Failed to find " << topic_param << " parameter");
+    ROS_INFO_STREAM("Failed to find '" << topic_param << "' parameter");
     return false;
   }
 }

diff --git a/motoman_driver/src/industrial_robot_client/robot_state_interface.cpp b/motoman_driver/src/industrial_robot_client/robot_state_interface.cpp
@@ -92,6 +92,7 @@ bool RobotStateInterface::init(SmplMsgConnection* connection)
   }
   else
   {
+    ROS_INFO("Expecting/assuming single motion-group controller configuration");
     this->version_0_ = true;
     std::vector<std::string> joint_names;
     if (!getJointNames("controller_joint_names", "robot_description", joint_names))
-Original file line number
+Diff line change
@@ Expand Up @@
       }
       else
       {
-        ROS_ERROR_STREAM("Failed to find " << topic_param << " parameter");
+        ROS_INFO_STREAM("Failed to find '" << topic_param << "' parameter");
         return false;
       }
     }
@@ Expand Down @@