improved prints in resource_helpers

franka_hw/src/resource_helpers.cpp

@@ -46,9 +46,8 @@ bool getArmClaimedMap(ResourceWithClaimsMap& resource_map, ArmClaimedMap& arm_cl
   // 7 non-torque claims on joint_level or one claim on cartesian level.
   for (auto map_it = resource_map.begin(); map_it != resource_map.end(); map_it++) {
     if (!findArmIdInResourceId(map_it->first, &current_arm_id)) {
-      ROS_ERROR_STREAM("Could not find arm_id in resource "
-                       << map_it->first
-                       << ". Conflict! Name joints as '<robot_arm_id>_joint<jointnumber>'");
+      ROS_ERROR_STREAM("Resource conflict: Could not find arm_id in resource "
+                       << map_it->first << ". Name joints as '<robot_arm_id>_joint<jointnumber>'");
       return false;
     }
     ResourceClaims new_claim;
@@ -139,8 +138,9 @@ ControlMode getControlMode(const std::string& arm_id, ArmClaimedMap& arm_claim_m
 bool hasConflictingMultiClaim(const ResourceWithClaimsMap& resource_map) {
   for (const auto& resource : resource_map) {
     if (resource.second.size() > 2) {
-      ROS_ERROR_STREAM("FrankaHW: Resource "
-                       << resource.first << " claimed with more than two interfaces. Conflict!");
+      ROS_ERROR_STREAM("Resource conflict: " << resource.first
+                                             << " is claimed with more than two command interfaces "
+                                                "which is not supported.");
       return true;
     }
     uint8_t torque_claims = 0;
@@ -154,9 +154,10 @@ bool hasConflictingMultiClaim(const ResourceWithClaimsMap& resource_map) {
         }
       }
       if (torque_claims != 1) {
-        ROS_ERROR_STREAM("FrankaHW: Resource "
+        ROS_ERROR_STREAM("Resource conflict: "
                          << resource.first
-                         << " is claimed with two non-compatible interfaces. Conflict!");
+                         << " is claimed with a combination of two interfaces that is not "
+                            "supported.");
         return true;
       }
     }
@@ -174,8 +175,9 @@ bool hasConflictingJointAndCartesianClaim(const ArmClaimedMap& arm_claim_map,
          arm_claim_map.at(arm_id).joint_position_claims +
                  arm_claim_map.at(arm_id).joint_velocity_claims >
              0)) {
-      ROS_ERROR_STREAM("FrankaHW: Invalid claims on joint AND cartesian level on arm "
-                       << arm_id << ". Conflict!");
+      ROS_ERROR_STREAM(
+          "Resource conflict: Invalid combination of claims on joint AND cartesian level on arm "
+          << arm_id << " which is not supported.");
       return true;
     }
   }
@@ -192,8 +194,9 @@ bool partiallyClaimsArmJoints(const ArmClaimedMap& arm_claim_map, const std::str
          arm_claim_map.at(arm_id).joint_velocity_claims != 7) ||
         (arm_claim_map.at(arm_id).joint_torque_claims > 0 &&
          arm_claim_map.at(arm_id).joint_torque_claims != 7)) {
-      ROS_ERROR_STREAM("FrankaHW: Non-consistent claims on the joints of "
-                       << arm_id << ". Not supported. Conflict!");
+      ROS_ERROR_STREAM("Resource conflict: Partially claiming joints of arm "
+                       << arm_id
+                       << " is not supported. Make sure to claim all 7 joints of the robot.");
       return true;
     }
   }