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Fixes to melodic-sync 2, adapt to ROS2 style #53

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merged 2 commits into from
Apr 11, 2019
Merged

Fixes to melodic-sync 2, adapt to ROS2 style #53

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94cfc11
Fix issues form https://github.com/ros-planning/moveit2/pull/47
vmayoral Mar 24, 2019
8f1a38e
Merge branch 'master' into fixes-melodicsync2
henningkayser Apr 11, 2019
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8 changes: 3 additions & 5 deletions moveit_core/robot_model/src/joint_model_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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<const JointModel*>& unsorted_group_joints,
const RobotModel* parent_model)
Expand Down Expand Up @@ -724,7 +722,7 @@ bool JointModelGroup::isValidVelocityMove(const std::vector<double>& 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;
}

Expand All @@ -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;
}
Expand All @@ -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;
}
}
Expand Down