From d15284a81e7cc1f755e0a8e7a8c972940e135dd5 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 14 Jul 2020 08:15:14 +0200
Subject: [PATCH] the robot does not move initially. some logging improvements.
---
config/config.yaml | 4 ++--
src/MqttToRosNode.cpp | 8 +++++++-
2 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/config/config.yaml b/config/config.yaml
index 765962e..7d0b038 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -1,8 +1,8 @@
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"
diff --git a/src/MqttToRosNode.cpp b/src/MqttToRosNode.cpp
index 04a5be7..d7c08ad 100644
--- a/src/MqttToRosNode.cpp
+++ b/src/MqttToRosNode.cpp
@@ -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;
}
}
--
GitLab