Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Use ros-independent logging commands in pipeline.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

10
ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
View File

@@ -226,7 +226,7 @@ private:
int ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
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
int policy = 0;
@@ -239,19 +239,19 @@ private:
// Check the correct policy was applied
if (policy != SCHED_FIFO)
{
ROS_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!");
LOG_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!");
}
else
{
ROS_INFO("Producer thread: SCHED_FIFO OK");
LOG_INFO("Producer thread: SCHED_FIFO OK");
}
// Print thread scheduling priority
ROS_INFO_STREAM("Thread priority is " << params.sched_priority);
LOG_INFO("Thread priority is %d", params.sched_priority);
}
else
{
ROS_ERROR("Could not get maximum thread priority for producer thread");
LOG_ERROR("Could not get maximum thread priority for producer thread");
}
}
else