point-streaming: address some of the comments made in PR ros-industri…

…al#88

* Addressed comments from @shaun-edwards:
  - Comment 1: Made JointTrajectoryInterface::jointCommandCB() pure
    virtual so that JointTrajectoryInterface::jointCommandCB()
    implementation can be deleted.
  - Comment 2: Message was changed to ROS_DEBUG
* Some other minor changes (e.g., commenting)

motoman_driver/include/motoman_driver/industrial_robot_client/joint_trajectory_interface.h

@@ -300,7 +300,13 @@ class JointTrajectoryInterface
    */
   virtual void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
 
-  virtual void jointCommandCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
+  /**
+   * \brief Callback function registered to joint_command topic subscriber.
+   *   Specific method is implemented in JointTrajectoryStreamer class.
+   *
+   * \param msg JointTrajectory message
+   */
+  virtual void jointCommandCB(const trajectory_msgs::JointTrajectoryConstPtr &msg) = 0;
 
   /**
    * \brief Callback function registered to ROS stopMotion service

motoman_driver/src/industrial_robot_client/joint_trajectory_interface.cpp

@@ -271,12 +271,6 @@ void JointTrajectoryInterface::jointTrajectoryCB(
   send_to_robot(robot_msgs);
 }
 
-void JointTrajectoryInterface::jointCommandCB(
-  const trajectory_msgs::JointTrajectoryConstPtr &msg)
-{
-  //ROS_INFO("Yessir?");
-}
-
 bool JointTrajectoryInterface::trajectory_to_msgs(
   const motoman_msgs::DynamicJointTrajectoryConstPtr& traj,
   std::vector<SimpleMessage>* msgs)
@@ -741,4 +735,3 @@ void JointTrajectoryInterface::jointStateCB(
 
 }  // namespace joint_trajectory_interface
 }   // namespace industrial_robot_client
-

motoman_driver/src/industrial_robot_client/joint_trajectory_streamer.cpp

@@ -345,7 +345,7 @@ void JointTrajectoryStreamer::streamingThread()
       break;
 
     case TransferStates::POINT_STREAMING:
-      ROS_INFO("I'm streaming, sir.");
+
       // if no points in queue, streaming complete, set to idle.
       if (this->streaming_queue_.empty())
       {
@@ -376,7 +376,11 @@ void JointTrajectoryStreamer::streamingThread()
         ROS_WARN("Failed sent joint point, will try again");
 
       break;
-      // consider checking for controller point starvation here. use a timer to check if the state is popping in and out of POINT_STREAMING mode, indicating something is trying to send streaming points, but is doing so too slowly. It may, in fact, not matter other than motion won't be smooth.
+      // TODO Consider checking for controller point starvation here. use a
+      //      timer to check if the state is popping in and out of
+      //      POINT_STREAMING mode, indicating something is trying to send
+      //      streaming points, but is doing so too slowly. It may, in fact, not
+      //      matter other than motion won't be smooth.
 
     default:
       ROS_ERROR("Joint trajectory streamer: unknown state, %d", this->state_);
@@ -400,4 +404,3 @@ void JointTrajectoryStreamer::trajectoryStop()
 
 }  // namespace joint_trajectory_streamer
 }  // namespace industrial_robot_client
-

motoman_driver/src/joint_trajectory_streamer.cpp

@@ -469,7 +469,7 @@ void MotomanJointTrajectoryStreamer::streamingThread()
         {
           time_since_last = ros::Time::now().toSec() - time_of_last;
           ros::Duration(0.005).sleep();
-          //ROS_INFO("Time since last point: %f", time_since_last);
+          ROS_DEBUG("Time since last point: %f", time_since_last);
           break;
         }
         else