[CM] Make error message after trying to active controller more informative. (#1066)

destogl · web-flow · commit ca33bcc57d3f · 2023-07-05T16:46:13.000+01:00
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -1399,8 +1399,11 @@ void ControllerManager::activate_controllers(
     if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
     {
       RCLCPP_ERROR(
-        get_logger(), "After activating, controller '%s' is in state '%s', expected Active",
-        controller->get_node()->get_name(), new_state.label().c_str());
+        get_logger(),
+        "After activation, controller '%s' is in state '%s' (%d), expected '%s' (%d).",
+        controller->get_node()->get_name(), new_state.label().c_str(), new_state.id(),
+        hardware_interface::lifecycle_state_names::ACTIVE,
+        lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
     }
 
     if (controller->is_async())

Original file line number	Diff line number	Diff line change
`@@ -1399,8 +1399,11 @@ void ControllerManager::activate_controllers(`
`1399`	`1399`	`if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)`
`1400`	`1400`	`{`
`1401`	`1401`	`RCLCPP_ERROR(`
`1402`		`- get_logger(), "After activating, controller '%s' is in state '%s', expected Active",`
`1403`		`- controller->get_node()->get_name(), new_state.label().c_str());`
	`1402`	`+ get_logger(),`
	`1403`	`+ "After activation, controller '%s' is in state '%s' (%d), expected '%s' (%d).",`
	`1404`	`+ controller->get_node()->get_name(), new_state.label().c_str(), new_state.id(),`
	`1405`	`+ hardware_interface::lifecycle_state_names::ACTIVE,`
	`1406`	`+ lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);`
`1404`	`1407`	`}`
`1405`	`1408`
`1406`	`1409`	`if (controller->is_async())`