Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Improvement ⏩: ControllerManager make output about available controller types nicer and informative instead of error. #577

Merged
merged 1 commit into from
Nov 17, 2021
Merged

Improvement ⏩: ControllerManager make output about available controller types nicer and informative instead of error. #577

merged 1 commit into from
Nov 17, 2021

Conversation

destogl
Copy link
Member

@destogl destogl commented Nov 17, 2021

When we try to load controller with unavailable type now the output looks like this:

[ros2_control_node-2] [INFO] [1637180998.063704840] [controller_manager]: Loading controller 'stoglrobotics_controller'
[ros2_control_node-2] [ERROR] [1637180998.063739504] [controller_manager]: Loader for controller 'stoglrobotics_controller' not found.
[ros2_control_node-2] [INFO] [1637180998.063745894] [controller_manager]: Available classes:
[ros2_control_node-2] [INFO] [1637180998.063753888] [controller_manager]:   admittance_controller/AdmittanceController
[ros2_control_node-2] [INFO] [1637180998.063758628] [controller_manager]:   controller_manager/test_controller
[ros2_control_node-2] [INFO] [1637180998.063763418] [controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-2] [INFO] [1637180998.063767954] [controller_manager]:   controller_manager/test_controller_with_interfaces
[ros2_control_node-2] [INFO] [1637180998.063772640] [controller_manager]:   diff_drive_controller/DiffDriveController
[ros2_control_node-2] [INFO] [1637180998.063777379] [controller_manager]:   effort_controllers/GripperActionController
[ros2_control_node-2] [INFO] [1637180998.063781293] [controller_manager]:   effort_controllers/JointGroupEffortController
[ros2_control_node-2] [INFO] [1637180998.063785605] [controller_manager]:   force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
[ros2_control_node-2] [INFO] [1637180998.063793932] [controller_manager]:   forward_command_controller/ForwardCommandController
[ros2_control_node-2] [INFO] [1637180998.063798820] [controller_manager]:   forward_command_controller/MultiInterfaceForwardCommandController
[ros2_control_node-2] [INFO] [1637180998.063803599] [controller_manager]:   imu_sensor_broadcaster/IMUSensorBroadcaster
[ros2_control_node-2] [INFO] [1637180998.063807671] [controller_manager]:   jaw_tool_controller/JawToolController
[ros2_control_node-2] [INFO] [1637180998.063811598] [controller_manager]:   joint_state_broadcaster/JointStateBroadcaster
[ros2_control_node-2] [INFO] [1637180998.063815308] [controller_manager]:   joint_state_controller/JointStateController
[ros2_control_node-2] [INFO] [1637180998.063819463] [controller_manager]:   joint_trajectory_controller/JointTrajectoryController
[ros2_control_node-2] [INFO] [1637180998.063823881] [controller_manager]:   position_controllers/GripperActionController
[ros2_control_node-2] [INFO] [1637180998.063828636] [controller_manager]:   position_controllers/JointGroupPositionController
[ros2_control_node-2] [INFO] [1637180998.063832692] [controller_manager]:   velocity_controllers/JointGroupVelocityController

This is more readable then a huge pile of red (ERROR) lines. Also a bit of formatting is not bad, don't you think?

@destogl destogl self-assigned this Nov 17, 2021
@destogl destogl requested a review from bmagyar November 17, 2021 20:37
@bmagyar
Copy link
Member

bmagyar commented Nov 17, 2021

tumblr_lltzgnHi5F1qzib3wo1_400

@bmagyar bmagyar merged commit a47a034 into ros-controls:master Nov 17, 2021
@bmagyar
Copy link
Member

bmagyar commented Nov 17, 2021

@mergify backport foxy

mergify bot pushed a commit that referenced this pull request Nov 17, 2021
@destogl
Make output of not available controller nicer and make it information…
f3e4e18 
…al. (#577)

(cherry picked from commit a47a034)
@mergify mergify bot mentioned this pull request Nov 17, 2021
Merged
@mergify
Copy link
Contributor

mergify bot commented Nov 17, 2021

backport foxy

✅ Backports have been created

Hey, I reacted but my real name is @Mergifyio

destogl added a commit that referenced this pull request Nov 18, 2021
@mergify @destogl
Make output of not available controller nicer and make it information…
970a2eb 
…al. (#577) (#578)

(cherry picked from commit a47a034)

Co-authored-by: Denis Štogl <destogl@users.noreply.github.com>
@destogl destogl deleted the cm-nicer-output-not-available-controller branch November 18, 2021 11:12
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@bmagyar bmagyar bmagyar approved these changes

Assignees

@destogl destogl

Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
2 participants
@destogl @bmagyar