qlin/sas_robot_driver_franka
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remove gripper debugging output

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This commit is contained in:
QuentinLin
2024-07-23 19:01:16 +09:00
parent 221ccd1602
commit e72826aeff
1 changed files with 6 additions and 16 deletions
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22
src/hand/qros_effector_driver_franka_hand.cpp
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@@ -180,11 +180,7 @@ namespace qros
bool EffectorDriverFrankaHand::_grasp_srv_callback(sas_robot_driver_franka::Grasp::Request& req, bool EffectorDriverFrankaHand::_grasp_srv_callback(sas_robot_driver_franka::Grasp::Request& req,
sas_robot_driver_franka::Grasp::Response& res) sas_robot_driver_franka::Grasp::Response& res)
{ {
ROS_INFO_STREAM( ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::Grasping...");
"["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::Grasping...");
ROS_INFO_STREAM(
"["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::Width: " + std::
to_string(req.width));
auto force = req.force; auto force = req.force;
auto speed = req.speed; auto speed = req.speed;
auto epsilon_inner = req.epsilon_inner; auto epsilon_inner = req.epsilon_inner;
@@ -193,9 +189,8 @@ namespace qros
if (speed <= 0.0) speed = configuration_.default_speed; if (speed <= 0.0) speed = configuration_.default_speed;
if (epsilon_inner <= 0.0) epsilon_inner = configuration_.default_epsilon_inner; if (epsilon_inner <= 0.0) epsilon_inner = configuration_.default_epsilon_inner;
if (epsilon_outer <= 0.0) epsilon_outer = configuration_.default_epsilon_outer; if (epsilon_outer <= 0.0) epsilon_outer = configuration_.default_epsilon_outer;
ROS_INFO_STREAM( ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::Width: " + std::to_string(req.width));
"["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::force: " + std:: ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_grasp_srv_callback::force: " + std::to_string(force) + " speed: " + std::to_string(speed));
to_string(force) + " speed: " + std::to_string(speed));
bool ret = false; bool ret = false;
bool function_ret = true; bool function_ret = true;
gripper_in_use_.lock(); gripper_in_use_.lock();
@@ -225,12 +220,10 @@ namespace qros
bool EffectorDriverFrankaHand::_move_srv_callback(sas_robot_driver_franka::Move::Request& req, bool EffectorDriverFrankaHand::_move_srv_callback(sas_robot_driver_franka::Move::Request& req,
sas_robot_driver_franka::Move::Response& res) sas_robot_driver_franka::Move::Response& res)
{ {
ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::Moving..."); ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::Moving...");
auto speed = req.speed; auto speed = req.speed;
if (speed <= 0.0) speed = configuration_.default_speed; if (speed <= 0.0) speed = configuration_.default_speed;
ROS_INFO_STREAM( ROS_DEBUG_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::Speed: " + std::to_string(speed) + " Width: " + std::to_string(req.width));
"["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_move_srv_callback::Speed: " + std::to_string
(speed) + " Width: " + std::to_string(req.width));
bool ret = false; bool ret = false;
bool function_ret = true; bool function_ret = true;
gripper_in_use_.lock(); gripper_in_use_.lock();
@@ -304,10 +297,7 @@ namespace qros
#ifdef BLOCK_READ_IN_USED #ifdef BLOCK_READ_IN_USED
if (should_unlock) gripper_in_use_.unlock(); if (should_unlock) gripper_in_use_.unlock();
#endif #endif
ROS_INFO_STREAM( ROS_INFO_STREAM("["+ ros::this_node::getName()+"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Could not read gripper state. Unavailable.");
"["+ ros::this_node::getName()+
"]::[EffectorDriverFrankaHand]::_gripper_status_loop::Could not read gripper state. Unavailable.")
;
sas_robot_driver_franka::GripperState msg; sas_robot_driver_franka::GripperState msg;
msg.width = 0.0; msg.width = 0.0;
gripper_status_publisher_.publish(msg); gripper_status_publisher_.publish(msg);