Obbart/universal_robots_ros_driver
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Move debug output to DEBUG stream

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This commit is contained in:
Felix Mauch
2019-06-12 09:52:03 +02:00
committed by Tristan Schnell
parent 00d20cb501
commit 75d6ae0a19
5 changed files with 12 additions and 14 deletions
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9
ur_rtde_driver/src/ur/ur_driver.cpp
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@@ -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)
{