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Commit 4c32d496 authored by David Tiede's avatar David Tiede
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parent 0cad757e
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...@@ -19,18 +19,18 @@ namespace safety_planning_request_adapters ...@@ -19,18 +19,18 @@ namespace safety_planning_request_adapters
const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res, const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
std::vector<std::size_t>& added_path_index) const override std::vector<std::size_t>& added_path_index) const override
{ {
ROS_INFO("ADAPTER PACKAGE: Adapter loaded"); ROS_INFO("Safety Planning Request Adapter: Plugin loaded");
bool result = planner(planning_scene, req, res); bool result = planner(planning_scene, req, res);
if (result && res.trajectory_) // Only run after planning if (result && res.trajectory_) // Only run after planning
{ {
ROS_INFO("ADAPTER PACKAGE: Start plugin"); ROS_INFO("Safety Planning Request Adapter: Start plugin");
robot_trajectory::RobotTrajectory& trajectory = *res.trajectory_; robot_trajectory::RobotTrajectory& trajectory = *res.trajectory_;
const robot_model::JointModelGroup* group = trajectory.getGroup(); const robot_model::JointModelGroup* group = trajectory.getGroup();
if (!group) if (!group)
{ {
ROS_ERROR("ADAPTER PACKAGE: It looks like the planner did not set the group the plan was computed for"); ROS_ERROR("Safety Planning Request Adapter: It looks like the planner did not set the group the plan was computed for");
return false; return false;
} }
...@@ -52,7 +52,7 @@ namespace safety_planning_request_adapters ...@@ -52,7 +52,7 @@ namespace safety_planning_request_adapters
} }
} }
} }
ROS_INFO("ADAPTER PACKAGE: End plugin"); ROS_INFO("Safety Planning Request Adapter: End plugin");
return result; return result;
}; };
}; };
......
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