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Avoid std::stringstream #391

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Merged
Karsten1987 merged 1 commit into from
Apr 24, 2021
Merged

Avoid std::stringstream #391

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12 changes: 5 additions & 7 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -443,17 +443,15 @@ controller_interface::return_type ControllerManager::switch_controller(
auto handle_conflict = [&](const std::string & msg)
{
if (strictness == controller_manager_msgs::srv::SwitchController::Request::STRICT) {
RCLCPP_ERROR_STREAM(
get_logger(),
msg);
RCLCPP_ERROR(get_logger(), "%s", msg.c_str());
stop_request_.clear();
start_request_.clear();
return controller_interface::return_type::ERROR;
}
RCLCPP_DEBUG_STREAM(
RCLCPP_DEBUG(
get_logger(),
"Could not stop controller '" << controller.info.name <<
"' since it is not running");
"Could not stop controller '%s' since it is not running",
controller.info.name.c_str());
return controller_interface::return_type::OK;
};
if (!is_running && in_stop_list) { // check for double stop
Expand Down Expand Up @@ -745,7 +743,7 @@ void ControllerManager::list_controller_types_srv_cb(
for (const auto & cur_type : cur_types) {
response->types.push_back(cur_type);
response->base_classes.push_back(kControllerInterface);
RCLCPP_DEBUG_STREAM(get_logger(), cur_type);
RCLCPP_DEBUG(get_logger(), "%s", cur_type.c_str());
}

RCLCPP_DEBUG(get_logger(), "list types service finished");
Expand Down
26 changes: 16 additions & 10 deletions joint_limits_interface/include/joint_limits_interface/joint_limits_rosparam.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,14 +84,17 @@ inline bool getJointLimits(
!node->has_parameter(param_base_name + ".soft_lower_limit") &&
!node->has_parameter(param_base_name + ".soft_upper_limit"))
{
RCLCPP_ERROR_STREAM(
node->get_logger(), "No joint limits specification found for joint '" << joint_name <<
"' in the parameter server (node: " << std::string(
node->get_name()) + " param name: " + param_base_name << ").");
RCLCPP_ERROR(
node->get_logger(),
"No joint limits specification found for joint '%s' in the parameter server "
"(node: %s param name: %s).",
joint_name.c_str(),
node->get_name(),
param_base_name.c_str());
return false;
}
} catch (const std::exception & ex) {
RCLCPP_ERROR_STREAM(node->get_logger(), ex.what());
RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
return false;
}

Expand Down Expand Up @@ -200,14 +203,17 @@ inline bool getSoftJointLimits(
!node->has_parameter(param_base_name + ".soft_lower_limit") &&
!node->has_parameter(param_base_name + ".soft_upper_limit"))
{
RCLCPP_DEBUG_STREAM(
node->get_logger(), "No soft joint limits specification found for joint '" << joint_name <<
"' in the parameter server (node: " << std::string(
node->get_name()) + " param name: " + param_base_name << ").");
RCLCPP_DEBUG(
node->get_logger(),
"No soft joint limits specification found for joint '%s' in the parameter server "
"(node: %s param name: %s).",
joint_name.c_str(),
node->get_name(),
param_base_name.c_str());
return false;
}
} catch (const std::exception & ex) {
RCLCPP_ERROR_STREAM(node->get_logger(), ex.what());
RCLCPP_ERROR(node->get_logger(), "%s", ex.what());
return false;
}

Expand Down
2 changes: 1 addition & 1 deletion joint_limits_interface/test/joint_limits_interface_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -538,7 +538,7 @@ class JointLimitsInterfaceTest : public JointLimitsTest, public ::testing::Test
// try {
// iface.getHandle("unknown_name");
// } catch (const JointLimitsInterfaceException & e) {
// ROS_ERROR_STREAM(e.what());
// ROS_ERROR("%s", e.what());
// }
//
// // Enforce limits of all managed joints
Expand Down