Move debug output to DEBUG stream

ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h

@@ -154,7 +154,7 @@ public:
 
   virtual ~Pipeline()
   {
-    LOG_INFO("Destructing pipeline");
+    LOG_DEBUG("Destructing pipeline");
     stop();
   }
 
@@ -176,7 +176,7 @@ public:
     if (!running_)
       return;
 
-    LOG_INFO("Stopping pipeline! <%s>", name_.c_str());
+    LOG_DEBUG("Stopping pipeline! <%s>", name_.c_str());
 
     if (consumer_ != nullptr)
       consumer_->stopConsumer();
@@ -208,7 +208,7 @@ private:
 
   void runProducer()
   {
-    LOG_INFO("Starting up producer");
+    LOG_DEBUG("Starting up producer");
     std::ifstream realtime_file("/sys/kernel/realtime", std::ios::in);
     bool has_realtime;
     realtime_file >> has_realtime;

ur_rtde_driver/src/comm/tcp_socket.cpp

@@ -56,7 +56,7 @@ bool TCPSocket::setup(std::string& host, int port)
   if (state_ == SocketState::Connected)
     return false;
 
-  LOG_INFO("Setting up connection: %s:%d", host.c_str(), port);
+  LOG_DEBUG("Setting up connection: %s:%d", host.c_str(), port);
 
   // gethostbyname() is deprecated so use getadderinfo() as described in:
   // http://www.beej.us/guide/bgnet/output/html/multipage/syscalls.html#getaddrinfo
@@ -100,7 +100,7 @@ bool TCPSocket::setup(std::string& host, int port)
   {
     setOptions(socket_fd_);
     state_ = SocketState::Connected;
-    LOG_INFO("Connection established for %s:%d", host.c_str(), port);
+    LOG_DEBUG("Connection established for %s:%d", host.c_str(), port);
   }
   return connected;
 }

ur_rtde_driver/src/ros/hardware_interface.cpp

@@ -154,7 +154,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
   // Create ros_control interfaces
   for (std::size_t i = 0; i < joint_positions_.size(); ++i)
   {
-    ROS_INFO_STREAM("Registing handles for joint " << joint_names_[i]);
+    ROS_DEBUG_STREAM("Registing handles for joint " << joint_names_[i]);
     // Create joint state interface for all joints
     js_interface_.registerHandle(hardware_interface::JointStateHandle(joint_names_[i], &joint_positions_[i],
                                                                       &joint_velocities_[i], &joint_efforts_[i]));
@@ -275,7 +275,6 @@ void HardwareInterface ::write(const ros::Time& time, const ros::Duration& perio
       (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
        runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)))
   {
-    // ROS_INFO_STREAM("Writing command: " << joint_position_command_);
     ur_driver_->writeJointCommand(joint_position_command_);
   }
 }

ur_rtde_driver/src/ros/hardware_interface_node.cpp

@@ -69,9 +69,8 @@ int main(int argc, char** argv)
     ROS_ERROR_STREAM("Could not correctly initialize robot. Exiting");
     exit(1);
   }
-  ROS_INFO_STREAM("initialized hw interface");
+  ROS_DEBUG_STREAM("initialized hw interface");
   controller_manager::ControllerManager cm(g_hw_interface.get(), nh);
-  ROS_INFO_STREAM("started controller manager");
 
   // Get current time and elapsed time since last read
   timestamp = ros::Time::now();
@@ -130,7 +129,6 @@ int main(int argc, char** argv)
 
   double expected_cycle_time = 1.0 / (static_cast<double>(g_hw_interface->getControlFrequency()));
 
-  ROS_INFO("Starting control loop");
   // Run as fast as possible
   while (ros::ok())
   {

ur_rtde_driver/src/ur/ur_driver.cpp

@@ -53,7 +53,8 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
   , reverse_interface_active_(false)
   , handle_program_state_(handle_program_state)
 {
-  LOG_INFO("Initializing RTDE client");
+  LOG_DEBUG("Initializing urdriver");
+  LOG_DEBUG("Initializing RTDE client");
   rtde_client_.reset(new rtde_interface::RTDEClient(robot_ip, notifier_, recipe_file));
 
   if (!rtde_client_->init())
@@ -106,13 +107,13 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
 
   script_sender_.reset(new comm::ScriptSender(script_sender_port, prog));
   script_sender_->start();
-  LOG_INFO("Created script sender");
+  LOG_DEBUG("Created script sender");
 
   reverse_port_ = reverse_port;
   watchdog_thread_ = std::thread(&UrDriver::startWatchdog, this);
 
   rtde_client_->start();  // TODO: Add extra start method (also to HW-Interface)
-  LOG_INFO("Initialization done");
+  LOG_DEBUG("Initialization done");
 }
 
 std::unique_ptr<rtde_interface::DataPackage> ur_driver::UrDriver::getDataPackage()
@@ -152,7 +153,7 @@ void UrDriver::startWatchdog()
   handle_program_state_(false);
   reverse_interface_.reset(new comm::ReverseInterface(reverse_port_));
   reverse_interface_active_ = true;
-  LOG_INFO("Created reverse interface");
+  LOG_DEBUG("Created reverse interface");
 
   while (true)
   {