minor improvements in logging

src/dummy_selection_provider.cpp

@@ -28,7 +28,7 @@ nng_socket sock;
 int rv;
 
 void sendSelection(const std::string &object) {
-    ROS_INFO_STREAM("Selecting random object: " << object);
+    ROS_INFO_STREAM("Sending selection of: " << object);
     Selection selection;
     selection.set_id(object);
     int length = selection.ByteSize();
@@ -40,12 +40,6 @@ void sendSelection(const std::string &object) {
     }
 }
 
-std::string ProtoToJson(const google::protobuf::Message &proto) {
-    std::string json;
-    google::protobuf::util::MessageToJsonString(proto, &json);
-    return json;
-}
-
 int main(int argc, char **argv) {
 
     GOOGLE_PROTOBUF_VERIFY_VERSION;
@@ -67,8 +61,7 @@ int main(int argc, char **argv) {
         ROS_WARN_STREAM("nng_dial returned: " << nng_strerror(rv) << ". Trying to connect again in one second...");
         connection_retry_rate.sleep();
     }
-    ROS_INFO_STREAM("nng_dial returned: " << nng_strerror(rv) << " (which is the translation of error code " << rv
-                                          << "). Connection established!");
+    ROS_INFO_STREAM("NNG connection established to " << URL);
     ros::Rate loop_rate(200);
     ros::Rate pause_rate(ros::Duration(2)); // seconds
 
@@ -159,6 +152,7 @@ int main(int argc, char **argv) {
                     pause_rate.sleep();
                     std::string object{objects[distribution(rng)]};
 
+                    ROS_INFO_STREAM("Selecting random object: " << object);
                     sendSelection(object);
 
                     // wait again, then send the bin object
@@ -171,6 +165,9 @@ int main(int argc, char **argv) {
                     std::string bin{bins[binDistribution(rng)]};
                     ROS_INFO_STREAM("Selecting random bin: " << bin);
                     sendSelection(bin);
+
+                    // wait some time before starting the next selection
+                    pause_rate.sleep();
                 }
             }
         } else if (rv == NNG_EAGAIN) {