BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- fixed typos

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- changed ROS_INFO -> fprintf (for processing speed)
This commit is contained in:
ROBOTIS-zerom
2016-06-28 15:51:49 +09:00
parent 509c2cf483
commit a3e386e14e
1 changed files with 11 additions and 11 deletions
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22
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@ -433,7 +433,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
if (dxl == NULL)
{
ROS_WARN("Joint [%s] does not found.", joint_name.c_str());
ROS_WARN("Joint [%s] was not found.", joint_name.c_str());
continue;
}
if (DEBUG_PRINT)
@ -451,7 +451,7 @@ void RobotisController::initializeDevice(const std::string init_file_path)
ControlTableItem *item = dxl->ctrl_table_[item_name];
if (item == NULL)
{
ROS_WARN("Control Item [%s] does not found.", item_name.c_str());
ROS_WARN("Control Item [%s] was not found.", item_name.c_str());
continue;
}
@ -596,9 +596,9 @@ void *RobotisController::timerThread(void *param)
{
if (controller->DEBUG_PRINT == true)
{
ROS_WARN("[RobotisController::ThreadProc] NEXT TIME < CURR TIME.. (%f)[%ld.%09ld / %ld.%09ld]",
delta_nsec / 1000000.0, (long )next_time.tv_sec, (long )next_time.tv_nsec,
(long )curr_time.tv_sec, (long )curr_time.tv_nsec);
fprintf(stderr, "[RobotisController::ThreadProc] NEXT TIME < CURR TIME.. (%f)[%ld.%09ld / %ld.%09ld]",
delta_nsec / 1000000.0, (long )next_time.tv_sec, (long )next_time.tv_nsec,
(long )curr_time.tv_sec, (long )curr_time.tv_nsec);
}
// next_time = curr_time + 3 msec
@ -866,7 +866,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
ROS_INFO("(%2.6f) BulkRead Rx & update state", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) BulkRead Rx & update state", time_duration.nsec * 0.000001);
}
// Call SensorModule Process()
@ -885,7 +885,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
ROS_INFO("(%2.6f) SensorModule Process() & save result", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) SensorModule Process() & save result", time_duration.nsec * 0.000001);
}
if (controller_mode_ == MotionModuleMode)
@ -917,7 +917,7 @@ void RobotisController::process()
if (result_state == NULL)
{
ROS_INFO("[%s] %s", (*module_it)->getModuleName().c_str(), joint_name.c_str());
fprintf(stderr, "[%s] %s", (*module_it)->getModuleName().c_str(), joint_name.c_str());
continue;
}
@ -1005,7 +1005,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
ROS_INFO("(%2.6f) MotionModule Process() & save result", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) MotionModule Process() & save result", time_duration.nsec * 0.000001);
}
// SyncWrite
@ -1087,7 +1087,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
ROS_INFO("(%2.6f) SyncWrite & BulkRead Tx", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) SyncWrite & BulkRead Tx", time_duration.nsec * 0.000001);
}
// publish present & goal position
@ -1114,7 +1114,7 @@ void RobotisController::process()
if (DEBUG_PRINT)
{
time_duration = ros::Time::now() - start_time;
ROS_WARN("(%2.6f) Process() DONE", time_duration.nsec * 0.000001);
fprintf(stderr, "(%2.6f) Process() DONE", time_duration.nsec * 0.000001);
}
is_process_running = false;