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Commit d15284a8 authored by Johannes Mey's avatar Johannes Mey
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the robot does not move initially. some logging improvements.

parent 5a84c46c
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panda_mqtt_connector:
server: "tcp://localhost:1883"
robot_speed_factor: .5
robot_speed_factor: .7
robot_planning_mode: "fluid_path" # "fluid_path" or "cartesian_path"
default_trajectory: "circle" # "square" or "circle", everything else is ignored
default_trajectory: "<none>" # "square" or "circle", everything else is ignored
topics:
robotConfig: "robotconfig"
dataConfig: "dataconfig"
......
......@@ -24,7 +24,7 @@ void handleRobotConfig(const config::RobotConfig &robotConfig, const ros::NodeHa
ROS_INFO_STREAM("Retrieved new loop-mode: " << robotConfig.looptrajectory());
n.setParam("loop_trajectory", robotConfig.looptrajectory());
std::cout << "Retrieved new planning-mode: " << std::endl;
ROS_INFO_STREAM("Retrieved new planning-mode.");
switch (robotConfig.planningmode()) {
case config::RobotConfig_PlanningMode_FLUID:
n.setParam("robot_planning_mode", "fluid_path");
......@@ -34,6 +34,12 @@ void handleRobotConfig(const config::RobotConfig &robotConfig, const ros::NodeHa
n.setParam("robot_planning_mode", "cartesian_path");
ROS_INFO_STREAM("Planning-mode: cartesian");
break;
case config::RobotConfig_PlanningMode_RobotConfig_PlanningMode_INT_MIN_SENTINEL_DO_NOT_USE_:
ROS_ERROR_STREAM("Planning-mode: INT_MIN_SENTINEL_DO_NOT_USE_");
break;
case config::RobotConfig_PlanningMode_RobotConfig_PlanningMode_INT_MAX_SENTINEL_DO_NOT_USE_:
ROS_ERROR_STREAM("Planning-mode: INT_MAX_SENTINEL_DO_NOT_USE_");
break;
}
}
......
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