Show remapped topic names (#196)

This PR, similar to #192, changes the topic names in the warning message to remapped ones in order to make the message more understandable. --------- Signed-off-by: Tamaki Nishino <otamachan@gmail.com> Co-authored-by: Martin Günther <martin.guenther@dfki.de>
CCNYRoboticsLab · Apr 26, 2024 · e4c2fce · e4c2fce
1 parent 102c6d3
commit e4c2fce
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/imu_filter_madgwick/src/imu_filter_ros.cpp b/imu_filter_madgwick/src/imu_filter_ros.cpp
@@ -543,12 +543,14 @@ void ImuFilterMadgwickRos::reconfigCallback(
 void ImuFilterMadgwickRos::checkTopicsTimerCallback()
 {
     if (use_mag_)
-        RCLCPP_WARN_STREAM(
-            get_logger(),
-            "Still waiting for data on topics /imu/data_raw and /imu/mag...");
-    else
         RCLCPP_WARN_STREAM(get_logger(),
-                           "Still waiting for data on topic /imu/data_raw...");
+                           "Still waiting for data on topics "
+                               << imu_subscriber_->getTopic() << " and "
+                               << mag_subscriber_->getTopic() << "...");
+    else
+        RCLCPP_WARN_STREAM(get_logger(), "Still waiting for data on topic "
+                                             << imu_subscriber_->getTopic()
+                                             << "...");
 }
 
 #include "rclcpp_components/register_node_macro.hpp"