Merge pull request #997 from tue-robotics/fix/reduce_errors_at_startup

Fix/reduce errors at startup

robot_skills/src/robot_skills/hero.py

@@ -48,10 +48,9 @@ def __init__(self, wait_services=False):
         self.parts['leftArm'].joint_names = self.parts['leftArm'].load_param('skills/arm/joint_names')
 
         # These don't work for HSR because (then) Toyota's diagnostics aggregator makes the robot go into error somehow
-        for arm in self._arms.itervalues():
-            arm.unsubscribe_hardware_status()
-        for arm in self._arms.itervalues():
-            arm._operational = True
+        for part in self.parts.itervalues():
+            part.unsubscribe_hardware_status()
+            part._operational = True
 
         # verify joint goal required for posing
         assert 'arm_out_of_way' in self.parts['leftArm'].default_configurations,\

robot_skills/src/robot_skills/robot_part.py

@@ -82,8 +82,7 @@ def wait_for_connections(self, timeout, log_failing_connections=True):
                     try:
                         connection.wait_for_service(timeout=0.01)
                         connected = True
-                    except Exception as e:
-                        rospy.logerr(e)
+                    except Exception:
                         connected = False
                 elif isinstance(connection, rospy.Subscriber):
                     connected = connection.get_num_connections() >= 1