Obbart/universal_robots_ros_driver
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Fixed calls to ROS_ERROR

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This commit is contained in:
Thomas Timm Andersen
2015-09-10 14:46:18 +02:00
parent 9d56e027d2
commit 1b4ef808ee
1 changed files with 4 additions and 4 deletions
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8
src/ur_ros_wrapper.cpp
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@@ -137,21 +137,21 @@ private:
"Received a goal with incorrect joint names: " "Received a goal with incorrect joint names: "
+ outp_joint_names; + outp_joint_names;
as_.setAborted(result_, result_.error_string); as_.setAborted(result_, result_.error_string);
ROS_ERROR(result_.error_string.c_str()); ROS_ERROR("%s",result_.error_string.c_str());
} }
if (!has_velocities()) { if (!has_velocities()) {
result_.error_code = result_.INVALID_GOAL; result_.error_code = result_.INVALID_GOAL;
result_.error_string = "Received a goal without velocities"; result_.error_string = "Received a goal without velocities";
as_.setAborted(result_, result_.error_string); as_.setAborted(result_, result_.error_string);
ROS_ERROR(result_.error_string.c_str()); ROS_ERROR("%s",result_.error_string.c_str());
} }
if (!traj_is_finite()) { if (!traj_is_finite()) {
result_.error_string = "Received a goal with infinites or NaNs"; result_.error_string = "Received a goal with infinites or NaNs";
result_.error_code = result_.INVALID_GOAL; result_.error_code = result_.INVALID_GOAL;
as_.setAborted(result_, result_.error_string); as_.setAborted(result_, result_.error_string);
ROS_ERROR(result_.error_string.c_str()); ROS_ERROR("%s",result_.error_string.c_str());
} }
if (!has_limited_velocities()) { if (!has_limited_velocities()) {
@@ -159,7 +159,7 @@ private:
result_.error_string = result_.error_string =
"Received a goal with velocities that are higher than %f", max_velocity_; "Received a goal with velocities that are higher than %f", max_velocity_;
as_.setAborted(result_, result_.error_string); as_.setAborted(result_, result_.error_string);
ROS_ERROR(result_.error_string.c_str()); ROS_ERROR("%s",result_.error_string.c_str());
} }
reorder_traj_joints(goal_.trajectory); reorder_traj_joints(goal_.trajectory);