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Let Navigators have different error codes (#3642) #7

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Merged
emilnovak merged 1 commit into from
Jun 23, 2023
Merged

Let Navigators have different error codes (#3642) #7

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13 changes: 10 additions & 3 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,15 +73,22 @@ BtActionServer<ActionT>::BtActionServer(
if (value.get_type() == rclcpp::PARAMETER_NOT_SET) {
std::string error_codes_str;
for (const auto & error_code : error_code_names) {
error_codes_str += "\n" + error_code;
error_codes_str += " " + error_code;
}
RCLCPP_WARN_STREAM(
logger_, "Error_code parameters were not set. Using default values of: "
logger_, "Error_code parameters were not set. Using default values of:"
<< error_codes_str + "\n"
<< "Make sure these match your BT and there are not other sources of error codes you"
"reported to your application");
rclcpp::Parameter error_code_names_param("error_code_names", error_code_names);
node->set_parameter(error_code_names_param);
} else {
error_code_names = value.get<std::vector<std::string>>();
std::string error_codes_str;
for (const auto & error_code : error_code_names) {
error_codes_str += " " + error_code;
}
RCLCPP_INFO_STREAM(logger_, "Error_code parameters were set to:" << error_codes_str);
}
}
}
Expand Down Expand Up @@ -286,7 +293,7 @@ void BtActionServer<ActionT>::populateErrorCode(
highest_priority_error_code = current_error_code;
}
} catch (...) {
RCLCPP_ERROR(
RCLCPP_DEBUG(
logger_,
"Failed to get error code: %s from blackboard",
error_code.c_str());
Expand Down