From 0cad757ea8533be5da75afa5282e90d9630b1bf0 Mon Sep 17 00:00:00 2001
From: David Tiede <david.tiede@mailbox.tu-dresden.de>
Date: Tue, 19 Oct 2021 16:31:49 +0200
Subject: [PATCH] Change log level
---
safety_planning_request_adapters/src/add_safety.cpp | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/safety_planning_request_adapters/src/add_safety.cpp b/safety_planning_request_adapters/src/add_safety.cpp
index 2b3089e..5be6d5a 100644
--- a/safety_planning_request_adapters/src/add_safety.cpp
+++ b/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;
};
};
--
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