Obbart/universal_robots_ros_driver
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Included a position-based controller. Also prettied up printing

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This commit is contained in:
Thomas Timm Andersen
2015-09-25 09:57:33 +02:00
parent a15fcc695c
commit 5c785af6c4
14 changed files with 299 additions and 242 deletions
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50
src/do_output.cpp Normal file
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/*
* do_output.cpp
*
* ----------------------------------------------------------------------------
* "THE BEER-WARE LICENSE" (Revision 42):
* <thomas.timm.dk@gmail.com> wrote this file. As long as you retain this notice you
* can do whatever you want with this stuff. If we meet some day, and you think
* this stuff is worth it, you can buy me a beer in return. Thomas Timm Andersen
* ----------------------------------------------------------------------------
*/
#include "ur_modern_driver/du_output.h"
void print_debug(std::string inp) {
#ifdef ROS_BUILD
ROS_DEBUG(inp);
#else
printf("DEBUG: %s\n", inp.c_str());
#endif
}
void print_info(std::string inp) {
#ifdef ROS_BUILD
ROS_INFO(inp);
#else
printf("INFO: %s\n", inp.c_str());
#endif
}
void print_warning(std::string inp) {
#ifdef ROS_BUILD
ROS_WARN(inp);
#else
printf("WARNING: %s\n", inp.c_str());
#endif
}
void print_error(std::string inp) {
#ifdef ROS_BUILD
ROS_ERROR(inp);
#else
printf("ERROR: %s\n", inp.c_str());
#endif
}
void print_fatal(std::string inp) {
#ifdef ROS_BUILD
ROS_FATAL(inp);
ros::shutdown();
#else
printf("FATAL: %s\n", inp.c_str());
exit(1);
#endif
}