Obbart/universal_robots_ros_driver
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Use ros-independent logging commands in pipeline.

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This commit is contained in:
Felix Mauch
2019-06-03 09:57:43 +02:00
parent b15a416d06
commit 765812b4ae
1 changed files with 5 additions and 5 deletions
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10
ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
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@@ -226,7 +226,7 @@ private:
int ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params); int ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
if (ret != 0) if (ret != 0)
{ {
ROS_ERROR_STREAM("Unsuccessful in setting producer thread realtime priority. Error code: " << ret); LOG_ERROR("Unsuccessful in setting producer thread realtime priority. Error code: %d", ret);
} }
// Now verify the change in thread priority // Now verify the change in thread priority
int policy = 0; int policy = 0;
@@ -239,19 +239,19 @@ private:
// Check the correct policy was applied // Check the correct policy was applied
if (policy != SCHED_FIFO) if (policy != SCHED_FIFO)
{ {
ROS_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!"); LOG_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!");
} }
else else
{ {
ROS_INFO("Producer thread: SCHED_FIFO OK"); LOG_INFO("Producer thread: SCHED_FIFO OK");
} }
// Print thread scheduling priority // Print thread scheduling priority
ROS_INFO_STREAM("Thread priority is " << params.sched_priority); LOG_INFO("Thread priority is %d", params.sched_priority);
} }
else else
{ {
ROS_ERROR("Could not get maximum thread priority for producer thread"); LOG_ERROR("Could not get maximum thread priority for producer thread");
} }
} }
else else