From ed51b1a2dd4590125549280dedfa9f98fd994bf2 Mon Sep 17 00:00:00 2001 From: Nick Lamprianidis Date: Thu, 25 May 2023 22:31:56 +0200 Subject: [PATCH] Improve log messages (#206) Signed-off-by: Nick Lamprianidis --- src/robot_state_publisher.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/robot_state_publisher.cpp b/src/robot_state_publisher.cpp index 4863c94..2f116bd 100644 --- a/src/robot_state_publisher.cpp +++ b/src/robot_state_publisher.cpp @@ -192,7 +192,7 @@ void RobotStatePublisher::setupURDF(const std::string & urdf_xml) KDL::SegmentMap segments_map = tree.getSegments(); for (const std::pair & segment : segments_map) { - RCLCPP_INFO(get_logger(), "got segment %s", segment.first.c_str()); + RCLCPP_DEBUG(get_logger(), "Got segment %s", segment.first.c_str()); } // walk the tree and add segments to segments_ @@ -205,6 +205,8 @@ void RobotStatePublisher::setupURDF(const std::string & urdf_xml) // Publish the robot description description_pub_->publish(std::move(msg)); + + RCLCPP_INFO(get_logger(), "Robot initialized"); } // add children to correct maps @@ -222,8 +224,8 @@ void RobotStatePublisher::addChildren( if (model.getJoint(child.getJoint().getName()) && model.getJoint(child.getJoint().getName())->type == urdf::Joint::FLOATING) { - RCLCPP_INFO( - get_logger(), "Floating joint. Not adding segment from %s to %s.", + RCLCPP_DEBUG( + get_logger(), "Floating joint is not supported; skipping segment from %s to %s.", root.c_str(), child.getName().c_str()); } else { segments_fixed_.insert(make_pair(child.getJoint().getName(), s));