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Ros-node: change prints to ROS-prints #21

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Ros-node: change prints to ROS-prints #21

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db56c4e
rosnode: changed prints to ROS-prints
whoutman Jun 3, 2022
0a9b43d
string print: add c_str()-method
whoutman Jun 3, 2022
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24 changes: 12 additions & 12 deletions pepperl_fuchs_r2000/src/rosnode/r2000_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,12 +68,12 @@ bool R2000Node::connect()
// Connecting to laser range finder
//-------------------------------------------------------------------------
driver_ = new R2000Driver();
std::cout << "Connecting to scanner at " << scanner_ip_ << " ... ";
ROS_INFO("Connecting to scanner at %s ...", scanner_ip_.c_str());
if( driver_->connect(scanner_ip_,80) )
std::cout << "OK" << std::endl;
ROS_INFO("OK");
else
{
std::cout << "FAILED!" << std::endl;
ROS_ERROR("FAILED!");
std::cerr << "Connection to scanner at " << scanner_ip_ << " failed!" << std::endl;
return false;
}
Expand All @@ -83,20 +83,20 @@ bool R2000Node::connect()
driver_->setScanFrequency(scan_frequency_);
driver_->setSamplesPerScan(samples_per_scan_);
auto params = driver_->getParameters();
std::cout << "Current scanner settings:" << std::endl;
std::cout << "============================================================" << std::endl;
ROS_DEBUG("Current scanner settings:");
ROS_DEBUG("============================================================");
for( const auto& p : params )
std::cout << p.first << " : " << p.second << std::endl;
std::cout << "============================================================" << std::endl;
ROS_DEBUG("%s: %s", p.first.c_str(), p.second.c_str());
ROS_DEBUG("============================================================");

// Start capturing scanner data
//-------------------------------------------------------------------------
std::cout << "Starting capturing: ";
ROS_INFO("Starting capturing: ");
if( driver_->startCapturingTCP() )
std::cout << "OK" << std::endl;
ROS_INFO("OK");
else
{
std::cout << "FAILED!" << std::endl;
ROS_ERROR("FAILED!");
return false;
}
return true;
Expand All @@ -107,10 +107,10 @@ void R2000Node::getScanData(const ros::TimerEvent &e)
{
if( !driver_->isCapturing() )
{
std::cout << "ERROR: Laser range finder disconnected. Trying to reconnect..." << std::endl;
ROS_ERROR("ERROR: Laser range finder disconnected. Trying to reconnect...");
while( !connect() )
{
std::cout << "ERROR: Reconnect failed. Trying again in 2 seconds..." << std::endl;
ROS_ERROR("ERROR: Reconnect failed. Trying again in 2 seconds...");
usleep((2*1000000));
}
}
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