Improve error message about unknown controllers

henningkayser · Mar 22, 2024 · ed29aba · ed29aba
1 parent cf404ed
commit ed29aba
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -1071,7 +1071,12 @@ bool TrajectoryExecutionManager::configure(TrajectoryExecutionContext& context,
  {
  if (known_controllers_.find(controller) == known_controllers_.end())
  {
- RCLCPP_ERROR(logger_, "Controller '%s' is not known", controller.c_str());
+ std::stringstream stream;
+ for (const auto& controller : known_controllers_)
+ {
+ stream << " `" << controller.first << '`';
+ }
+ RCLCPP_ERROR_STREAM(logger_, "Controller " << controller << " is not known. Known controllers: " << stream.str());
  return false;
  }
  }