robossembler/runtime
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print action id in logger

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This commit is contained in:
Ilya Uraev 2025-03-10 13:44:36 +03:00
parent 3460f4eae9
commit 3eda33fc8b
2 changed files with 9 additions and 3 deletions
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5
rbs_bt_executor/src/MoveToJointStates.cpp
View file

@ -23,6 +23,8 @@ public:
}
bool setGoal(RosActionNode::Goal &goal) override {
RCLCPP_INFO(this->logger(), "[%s] Starting send goal [%s]", name().c_str(),
this->action_name_.c_str());
getInput("robot_name", goal.robot_name);
getInput("joint_state", goal.joint_values);
getInput("duration", goal.duration);
@ -30,7 +32,8 @@ public:
}
NodeStatus onResultReceived(const WrappedResult &wr) override {
RCLCPP_INFO(this->logger(), "Starting get response %s with status %b", this->action_name_.c_str(), wr.result->success);
RCLCPP_INFO(this->logger(), "[%s] Starting get response %s with status %b",
name().c_str(), this->action_name_.c_str(), wr.result->success);
if (!wr.result->success) {
return NodeStatus::FAILURE;
}

7
rbs_bt_executor/src/MoveToPose.cpp
View file

@ -24,7 +24,8 @@ public:
}
bool setGoal(RosActionNode::Goal &goal) override {
RCLCPP_INFO(this->logger(), "Starting send request");
RCLCPP_INFO(this->logger(), "[%s] Starting send goal [%s]", name().c_str(),
this->action_name_.c_str());
getInput("robot_name", goal.robot_name);
getInput("pose", m_target_pose);
getInput("duration", goal.duration);
@ -34,12 +35,14 @@ public:
NodeStatus onResultReceived(const WrappedResult &wr) override {
RCLCPP_INFO(this->logger(), "Starting get response %s with status %b", this->action_name_.c_str(), wr.result->success);
RCLCPP_INFO(this->logger(), "[%s] Starting get response %s with status %b",
name().c_str(), this->action_name_.c_str(), wr.result->success);
if (!wr.result->success) {
return NodeStatus::FAILURE;
}
return NodeStatus::SUCCESS;
}
private:
std::shared_ptr<geometry_msgs::msg::Pose> m_target_pose;
};