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Let Navigators have different error codes #3642

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merged 4 commits into from
Jun 22, 2023
Merged

Let Navigators have different error codes #3642

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865b545
Change ERROR to DEBUG
RBT22 Jun 21, 2023
5992533
INFO message on init
RBT22 Jun 21, 2023
106aaa4
format code
RBT22 Jun 22, 2023
93f39b6
Replace newlines with spaces
RBT22 Jun 22, 2023
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11 changes: 10 additions & 1 deletion 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 @@ -82,6 +82,15 @@ BtActionServer<ActionT>::BtActionServer(
"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 += "\n" + error_code;
}
RCLCPP_INFO_STREAM(
logger_, "Error_code parameters were set to: "
<< error_codes_str);
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Can this not fit on the next line up?

}
}
}
Expand Down Expand Up @@ -285,7 +294,7 @@ 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