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updated ROS INFOS
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@klaxalk
klaxalk committed Jul 10, 2024
1 parent d9d0424 commit 66fb9d9
Showing 1 changed file with 20 additions and 20 deletions.
40 changes: 20 additions & 20 deletions src/hw_api_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,7 @@ void Api::initialize(const ros::NodeHandle& parent_nh, std::shared_ptr<mrs_uav_h

mrs_lib::SubscribeHandlerOptions shopts;
shopts.nh = nh_;
shopts.node_name = "MrsSimulatorHwApi";
shopts.node_name = "MultirotorSimulatorHwApi";
shopts.no_message_timeout = mrs_lib::no_timeout;
shopts.threadsafe = true;
shopts.autostart = true;
Expand Down Expand Up @@ -311,15 +311,15 @@ std::tuple<bool, std::string> Api::callbackArming([[maybe_unused]] const bool& r
armed_ = true;

ss << "armed";
ROS_INFO_STREAM_THROTTLE(1.0, "[MrsSimulatorHwApi]: " << ss.str());
ROS_INFO_STREAM_THROTTLE(1.0, "[MultirotorSimulatorHwApi]: " << ss.str());
return std::tuple(true, ss.str());

} else {

armed_ = false;

ss << "disarmed";
ROS_INFO_STREAM_THROTTLE(1.0, "[MrsSimulatorHwApi]: " << ss.str());
ROS_INFO_STREAM_THROTTLE(1.0, "[MultirotorSimulatorHwApi]: " << ss.str());
return std::tuple(true, ss.str());
}
}
Expand All @@ -334,22 +334,22 @@ std::tuple<bool, std::string> Api::callbackOffboard(void) {

if (!armed_) {
ss << "Cannot switch to offboard, not armed.";
ROS_INFO_THROTTLE(1.0, "[MrsSimulatorHwApi]: %s", ss.str().c_str());
ROS_INFO_THROTTLE(1.0, "[MultirotorSimulatorHwApi]: %s", ss.str().c_str());
return {false, ss.str()};
}

auto last_cmd_time = mrs_lib::get_mutexed(mutex_last_cmd_time_, last_cmd_time_);

if (last_cmd_time != ros::Time::UNINITIALIZED && (ros::Time::now() - last_cmd_time).toSec() > _input_timeout_) {
ss << "Cannot switch to offboard, missing control input.";
ROS_INFO_THROTTLE(1.0, "[MrsSimulatorHwApi]: %s", ss.str().c_str());
ROS_INFO_THROTTLE(1.0, "[MultirotorSimulatorHwApi]: %s", ss.str().c_str());
return {false, ss.str()};
}

offboard_ = true;

ss << "Offboard set";
ROS_INFO_THROTTLE(1.0, "[MrsSimulatorHwApi]: %s", ss.str().c_str());
ROS_INFO_THROTTLE(1.0, "[MultirotorSimulatorHwApi]: %s", ss.str().c_str());
return {true, ss.str()};
}

Expand All @@ -365,7 +365,7 @@ bool Api::callbackActuatorCmd(const mrs_msgs::HwApiActuatorCmd::ConstPtr msg) {
return false;
}

ROS_INFO_ONCE("[Api]: getting actuators cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting actuators cmd");

if (offboard_) {
ph_actuators_cmd_.publish(msg);
Expand All @@ -390,7 +390,7 @@ bool Api::callbackControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd::ConstPtr
return false;
}

ROS_INFO_ONCE("[Api]: getting control group cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting control group cmd");

if (offboard_) {
ph_control_group_cmd_.publish(msg);
Expand All @@ -415,7 +415,7 @@ bool Api::callbackAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd::ConstPtr
return false;
}

ROS_INFO_ONCE("[Api]: getting attitude rate cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting attitude rate cmd");

if (offboard_) {
ph_attitude_rate_cmd_.publish(msg);
Expand All @@ -440,7 +440,7 @@ bool Api::callbackAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd::ConstPtr msg) {
return false;
}

ROS_INFO_ONCE("[Api]: getting attitude cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting attitude cmd");

if (offboard_) {
ph_attitude_cmd_.publish(msg);
Expand All @@ -465,7 +465,7 @@ bool Api::callbackAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRat
return false;
}

ROS_INFO_ONCE("[Api]: getting acceleration+hdg rate cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting acceleration+hdg rate cmd");

if (offboard_) {
ph_acceleration_hdg_rate_cmd_.publish(msg);
Expand All @@ -490,7 +490,7 @@ bool Api::callbackAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd::Co
return false;
}

ROS_INFO_ONCE("[Api]: getting acceleration+hdg cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting acceleration+hdg cmd");

if (offboard_) {
ph_acceleration_hdg_cmd_.publish(msg);
Expand All @@ -515,7 +515,7 @@ bool Api::callbackVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd::Co
return false;
}

ROS_INFO_ONCE("[Api]: getting velocity+hdg rate cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting velocity+hdg rate cmd");

if (offboard_) {
ph_velocity_hdg_rate_cmd_.publish(msg);
Expand All @@ -540,7 +540,7 @@ bool Api::callbackVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd::ConstPtr m
return false;
}

ROS_INFO_ONCE("[Api]: getting velocity+hdg cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting velocity+hdg cmd");

if (offboard_) {
ph_velocity_hdg_cmd_.publish(msg);
Expand All @@ -565,7 +565,7 @@ bool Api::callbackPositionCmd(const mrs_msgs::HwApiPositionCmd::ConstPtr msg) {
return false;
}

ROS_INFO_ONCE("[Api]: getting position cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting position cmd");

if (offboard_) {
ph_position_cmd_.publish(msg);
Expand All @@ -586,7 +586,7 @@ bool Api::callbackPositionCmd(const mrs_msgs::HwApiPositionCmd::ConstPtr msg) {

void Api::callbackTrackerCmd(const mrs_msgs::TrackerCommand::ConstPtr msg) {

ROS_INFO_ONCE("[Api]: getting tracker cmd");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting tracker cmd");

if (offboard_) {
ph_tracker_cmd_.publish(msg);
Expand All @@ -605,7 +605,7 @@ void Api::callbackOdom(const nav_msgs::Odometry::ConstPtr msg) {
return;
}

ROS_INFO_ONCE("[Api]: getting simulator odometry");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting simulator odometry");

auto odom = msg;

Expand Down Expand Up @@ -776,7 +776,7 @@ void Api::callbackImu(const sensor_msgs::Imu::ConstPtr msg) {
return;
}

ROS_INFO_ONCE("[Api]: getting IMU");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting IMU");

if (_capabilities_.produces_imu) {

Expand All @@ -794,7 +794,7 @@ void Api::callbackRangefinder(const sensor_msgs::Range::ConstPtr msg) {
return;
}

ROS_INFO_ONCE("[Api]: getting rangefinder");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: getting rangefinder");

if (_capabilities_.produces_distance_sensor) {

Expand All @@ -814,7 +814,7 @@ void Api::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
return;
}

ROS_INFO_ONCE("[Api]: main timer spinning");
ROS_INFO_ONCE("[MultirotorSimulatorHwApi]: main timer spinning");

publishBatteryState();

Expand Down

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