From fbddaf2df8ad82251529971acdb9d2b8373f5095 Mon Sep 17 00:00:00 2001 From: ROBOTIS-zerom Date: Mon, 22 Aug 2016 10:35:06 +0900 Subject: [PATCH] changed some debug messages. --- .../src/robotis_controller/robotis_controller.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp index 1bea26e..2017293 100644 --- a/robotis_controller/src/robotis_controller/robotis_controller.cpp +++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp @@ -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; } }