DEBUG

urfeex · urfeex · commit cdc4f421b32b · 2025-10-15T09:51:35.000Z
diff --git a/ur_robot_driver/src/trajectory_until_node.cpp b/ur_robot_driver/src/trajectory_until_node.cpp
@@ -122,7 +122,12 @@ rclcpp_action::GoalResponse TrajectoryUntilNode::goal_received_callback(
   }
 
   if (!trajectory_action_client_->wait_for_action_server(std::chrono::seconds(1))) {
-    RCLCPP_ERROR(this->get_logger(), "Trajectory action server not available.");
+    std::string send_goal_service_name = get_node_base_interface()->resolve_topic_or_service_name("/motion_controller/"
+                                                                                                  "follow_joint_"
+                                                                                                  "trajectory/_action/"
+                                                                                                  "send_goal",
+                                                                                                  true);
+    RCLCPP_ERROR(this->get_logger(), "Trajectory action server at %s not available.", send_goal_service_name.c_str());
     return rclcpp_action::GoalResponse::REJECT;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -122,7 +122,12 @@ rclcpp_action::GoalResponse TrajectoryUntilNode::goal_received_callback(`
`122`	`122`	`}`
`123`	`123`
`124`	`124`	`if (!trajectory_action_client_->wait_for_action_server(std::chrono::seconds(1))) {`
`125`		`- RCLCPP_ERROR(this->get_logger(), "Trajectory action server not available.");`
	`125`	`+ std::string send_goal_service_name = get_node_base_interface()->resolve_topic_or_service_name("/motion_controller/"`
	`126`	`+ "follow_joint_"`
	`127`	`+ "trajectory/_action/"`
	`128`	`+ "send_goal",`
	`129`	`+ true);`
	`130`	`+ RCLCPP_ERROR(this->get_logger(), "Trajectory action server at %s not available.", send_goal_service_name.c_str());`
`126`	`131`	`return rclcpp_action::GoalResponse::REJECT;`
`127`	`132`	`}`
`128`	`133`