remove undeserved error log for empty JointState.position #64
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@tfoote what do you think about this? |
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The raw joint state message without position is not invalid in of itself, but I don't think that the robot_state_publisher can do anything without the position message. I think that publishing the two different Joint State messages is the best thing to do as it encapsulates the raw data. And you're right that the error in the joint_state_listener is overly strong. However I think that the code should probably be downgraded to a warning, and the message clarified that the message cannot be handled, instead of saying that it's invalid. Note that if this is downgraded to a warning (it should probably be throttled too) it should still ignore the message that it cannot publish. |
sbarthelemy
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In the end (and since I'm sticking to indigo right now), I circumvented the issue by publishing two JointState messages, in two topics ("joint_states" and "wheel_states"). robot_state_publisher only listens to "joint_states". But I'm still interested in fixing this erroneous spammy log.
Well I personally don't see a use for this warning and it complicates the matter a bit since we'll need to choose a throttle period. Similarly, there is no warning for empty JointState messages (not names nor position) which are also both valid and useless (ie. not handled by robot_state_publisher), and I don't see why there should be any. But anyway, both solutions (no log or a throttled warning) would be an improvement, and I'll be happy to submit the one you prefer. I just pushed the second one for review. |
| @@ -86,7 +86,11 @@ void JointStateListener::callbackFixedJoint(const ros::TimerEvent& e) | |||
| void JointStateListener::callbackJointState(const JointStateConstPtr& state) | |||
| { | |||
| if (state->name.size() != state->position.size()){ | |||
| ROS_ERROR("Robot state publisher received an invalid joint state vector"); | |||
| if (state->position.empty()){ | |||
| ROS_WARN_THROTTLE(300, "Robot state publisher ignored a JointState message whose position member was empty"); | |||
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It would be great to list the names, and also mention that this message will not reappear for 300 seconds. For those who don't know that this is a throttled output.
As per the JointState message doc, the ``position`` member must be either empty OR have the same size as the ``name`` member. In case it is empty, the message is valid, but we will still warn we won't use it.
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@tfoote: Hi, I updated the PR following your suggestions, could you have a look? Thx! |
as per the JointState message doc, the
positionmember must beeither empty OR have the same size as the
namemember.Some background here http://answers.ros.org/question/244796/jointstate-messages-with-heterogeneous-position-and-velocity-sensors/