From 797670877cd6c575ad441631a56bb39bbd0bd3ec Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Fri, 15 Jul 2022 12:26:18 +0200
Subject: [PATCH] better logging for commands
---
src/moveit_sorting_controller.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/moveit_sorting_controller.cpp b/src/moveit_sorting_controller.cpp
index 3b43d7e..5a3bc92 100644
--- a/src/moveit_sorting_controller.cpp
+++ b/src/moveit_sorting_controller.cpp
@@ -79,7 +79,7 @@ int main(int argc, char** argv)
const PickAndPlace& pick_place = command.pickandplace();
if (command.has_pickandplace())
{
- ROS_INFO_STREAM("[COMMAND] Pick object " << pick_place.idpick() << " and place it at " << pick_place.idplace());
+ ROS_INFO_STREAM("[COMMAND] for robot " << pick_place.idrobot() << ": Pick object " << pick_place.idpick() << " and place it at " << pick_place.idplace());
Object* pick_object = controller.resolveObject(pick_place.idpick());
if (!pick_object)
{
@@ -142,7 +142,7 @@ int main(int argc, char** argv)
}
else if (command.has_evacuate())
{
- ROS_INFO_STREAM("[COMMAND] Evacuate " << command.evacuate().idrobot() << " from zone "
+ ROS_INFO_STREAM("[COMMAND] for robot " << command.evacuate().idrobot() << ": Evacuate " << command.evacuate().idrobot() << " from zone "
<< command.evacuate().idcollaborationzone());
if (command.evacuate().idrobot() != controller.getRobotName())
{
@@ -198,7 +198,7 @@ int main(int argc, char** argv)
Object* robot = controller.resolveObject(command.pick().idrobot());
Object* object = controller.resolveObject(command.pick().idpick());
- ROS_INFO_STREAM("[COMMAND] Pick " << object->id() << " using robot " << robot->id());
+ ROS_INFO_STREAM("[COMMAND] for robot " << command.pick().idrobot() << ": Pick " << object->id() << " using robot " << robot->id());
if (!robot)
{
ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to pick using unknown robot '" << command.pick().idrobot() << "'.");
@@ -215,7 +215,7 @@ int main(int argc, char** argv)
{
Object* robot = controller.resolveObject(command.place().idrobot());
Object* object = controller.resolveObject(command.place().idplace());
- ROS_INFO_STREAM("[COMMAND] Place object at " << object->id() << " using robot " << robot->id());
+ ROS_INFO_STREAM("[COMMAND] for robot " << command.place().idrobot() << ": Place object at " << object->id() << " using robot " << robot->id());
if (!robot)
{
ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to place using unknown robot '" << command.place().idrobot() << "'.");
@@ -233,7 +233,7 @@ int main(int argc, char** argv)
Object* robot = controller.resolveObject(command.drop().idrobot());
Object* bin = controller.resolveObject(command.drop().idbin());
- ROS_INFO_STREAM("[COMMAND] drop object into bin " << bin->id() << " using robot " << robot->id());
+ ROS_INFO_STREAM("[COMMAND] for robot " << command.drop().idrobot() << ": drop object into bin " << bin->id() << " using robot " << robot->id());
if (!robot)
{
ROS_ERROR_STREAM("[COMMAND] FAILED! Unable to drop using unknown robot '" << command.drop().idrobot() << "'.");
--
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