BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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changed some debug messages.

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This commit is contained in:
ROBOTIS-zerom
2016-08-22 10:35:06 +09:00
parent a0c6553cff
commit fbddaf2df8
1 changed files with 3 additions and 5 deletions
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8
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -673,7 +673,7 @@ void *RobotisController::timerThread(void *param)
static struct timespec next_time;
static struct timespec curr_time;
ROS_INFO("controller::thread_proc");
ROS_DEBUG("controller::thread_proc started");
clock_gettime(CLOCK_MONOTONIC, &next_time);
@@ -748,7 +748,7 @@ void RobotisController::startTimer()
// create and start the thread
if ((error = pthread_create(&this->timer_thread_, &attr, this->timerThread, this)) != 0)
{
ROS_ERROR("timer thread create fail!!");
ROS_ERROR("Creating timer thread failed!!");
exit(-1);
}
}
@@ -1035,8 +1035,6 @@ void RobotisController::process()
if ((*module_it)->getControlMode() == PositionControl)
{
// if(result_state->goal_position == 0 && dxl->id == 3)
// ROS_INFO("[MODULE:%s][ID:%2d] goal position = %f", (*module_it)->GetModuleName().c_str(), dxl->id, dxl_state->goal_position);
dxl_state->goal_position_ = result_state->goal_position_;
if (gazebo_mode_ == false)
@@ -1434,7 +1432,7 @@ void RobotisController::syncWriteItemCallback(const robotis_controller_msgs::Syn
}
else
{
// could not find the device
ROS_WARN("[SyncWriteItem] Unknown device : %s", msg->joint_name[i].c_str());
continue;
}
}