Change log level

safety_planning_request_adapters/src/add_safety.cpp

@@ -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;
         };
     };