From 94cfc112e4d6384fb9ff9a522a304cb59d2530da Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?V=C3=ADctor=20Mayoral=20Vilches?= Date: Sun, 24 Mar 2019 01:10:16 +0100 Subject: [PATCH] Fix issues form https://github.com/ros-planning/moveit2/pull/47 --- moveit_core/robot_model/src/joint_model_group.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp index d5583ea35a..7a44e955e2 100644 --- a/moveit_core/robot_model/src/joint_model_group.cpp +++ b/moveit_core/robot_model/src/joint_model_group.cpp @@ -96,8 +96,6 @@ bool jointPrecedes(const JointModel* a, const JointModel* b) } } // namespace -const std::string LOGNAME = "robot_model.jmg"; - JointModelGroup::JointModelGroup(const std::string& group_name, const srdf::Model::Group& config, const std::vector& unsorted_group_joints, const RobotModel* parent_model) @@ -724,7 +722,7 @@ bool JointModelGroup::isValidVelocityMove(const std::vector& from_joint_ // Check for equal sized arrays if (from_joint_pose.size() != to_joint_pose.size()) { - ROS_ERROR_NAMED(LOGNAME, "To and from joint poses are of different sizes."); + RCLCPP_ERROR(LOGGER, "To and from joint poses are of different sizes."); return false; } @@ -745,7 +743,7 @@ bool JointModelGroup::isValidVelocityMove(const double* from_joint_pose, const d if (var_bounds->size() != 1) { // TODO(davetcoleman) Support multiple variables - ROS_ERROR_NAMED(LOGNAME, "Attempting to check velocity bounds for waypoint move with joints that have multiple " + RCLCPP_ERROR(LOGGER, "Attempting to check velocity bounds for waypoint move with joints that have multiple " "variables"); return false; } @@ -754,7 +752,7 @@ bool JointModelGroup::isValidVelocityMove(const double* from_joint_pose, const d double max_dtheta = dt * max_velocity; if (dtheta > max_dtheta) { - ROS_DEBUG_STREAM_NAMED(LOGNAME, "Not valid velocity move because of joint " << i); + RCLCPP_DEBUG(LOGGER, "Not valid velocity move because of joint %lu", i); return false; } }