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[JSB] cleanup the activation error message #1584

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Merged
christophfroehlich merged 2 commits into from
Mar 17, 2025
Merged

[JSB] cleanup the activation error message #1584

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9f77fb1
[JSB] cleanup the activation error message
saikishor Mar 11, 2025
88a9b91
Merge branch 'master' into fix/failure_message
christophfroehlich Mar 17, 2025
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14 changes: 3 additions & 11 deletions joint_state_broadcaster/src/joint_state_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,23 +179,14 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_activate(
if (!init_joint_data())
{
RCLCPP_ERROR(
get_node()->get_logger(), "None of requested interfaces exist. Controller will not run.");
get_node()->get_logger(),
"Error initializing joint data. JointStateBroadcaster will not run.");
return CallbackReturn::ERROR;
}

init_joint_state_msg();
init_dynamic_joint_state_msg();

if (
!use_all_available_interfaces() &&
state_interfaces_.size() != (params_.joints.size() * params_.interfaces.size()))
{
RCLCPP_WARN(
get_node()->get_logger(),
"Not all requested interfaces exists. "
"Check ControllerManager output for more detailed information.");
}

return CallbackReturn::SUCCESS;
}

Expand Down Expand Up @@ -230,6 +221,7 @@ bool JointStateBroadcaster::init_joint_data()
joint_names_.clear();
if (state_interfaces_.empty())
{
RCLCPP_ERROR(get_node()->get_logger(), "No state interfaces found to publish.");
return false;
}

Expand Down