Merge pull request #273 from bponsler/kinetic-expose-verbose

Exposed the joint trajectory controller verbose setting as a parameter.
ros-controls · Aug 10, 2017 · 2c6c412 · 2c6c412
2 parents 4d75332 + 1e0d038
commit 2c6c412
Showing 1 changed file with 11 additions and 1 deletion.
diff --git a/...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h b/...jectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h
@@ -183,7 +183,17 @@ JointTrajectoryController<SegmentImpl, HardwareInterface>::
 JointTrajectoryController()
   : verbose_(false), // Set to true during debugging
     hold_trajectory_ptr_(new Trajectory)
-{}
+{
+  // The verbose parameter is for advanced use as it breaks real-time safety
+  // by enabling ROS logging services
+  if (verbose_)
+  {
+    ROS_WARN_STREAM(
+        "The joint_trajectory_controller verbose flag is enabled. "
+        << "This flag breaks real-time safety and should only be "
+        << "used for debugging");
+  }
+}
 
 template <class SegmentImpl, class HardwareInterface>
 bool JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInterface* hw,