Commit 0cad757e authored by David Tiede's avatar David Tiede
Browse files

Change log level

parent 6eebb19a
......@@ -19,12 +19,12 @@ namespace safety_planning_request_adapters
const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
std::vector<std::size_t>& added_path_index) const override
{
ROS_ERROR("ADAPTER PACKAGE: Adapter loaded");
ROS_INFO("ADAPTER PACKAGE: Adapter loaded");
bool result = planner(planning_scene, req, res);
if (result && res.trajectory_) // Only run after planning
{
ROS_ERROR("ADAPTER PACKAGE: Start plugin");
ROS_INFO("ADAPTER PACKAGE: Start plugin");
robot_trajectory::RobotTrajectory& trajectory = *res.trajectory_;
const robot_model::JointModelGroup* group = trajectory.getGroup();
......@@ -42,7 +42,9 @@ namespace safety_planning_request_adapters
robot_state::RobotStatePtr waypoint = trajectory.getWayPointPtr(p);
trajectory.setWayPointDurationFromPrevious(p, trajectory.getWayPointDurationFromPrevious(p) / VELOCITY_LIMIT);
//ROS_WARN("ADAPTER PACKAGE: vel1: %f", waypoint->getVariableVelocity(idx[0]));
// ROS_INFO("ADAPTER PACKAGE: vel1: (%f,%f)",
// trajectory.getWayPointDurationFromStart(p),
// waypoint->getVariableVelocity(idx[num_joints-1]) * VELOCITY_LIMIT);
for (size_t j = 0; j < num_joints; ++j) {
waypoint->setVariableVelocity(idx[j], waypoint->getVariableVelocity(idx[j]) * VELOCITY_LIMIT);
......@@ -50,7 +52,7 @@ namespace safety_planning_request_adapters
}
}
}
ROS_ERROR("ADAPTER PACKAGE: End plugin");
ROS_INFO("ADAPTER PACKAGE: End plugin");
return result;
};
};
......
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