[CM] Optimized debug output about interfaces when switching controlle…

…rs. (#1355) Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
ros-controls · Feb 1, 2024 · 1104d80 · 1104d80
1 parent 26815e8
commit 1104d80
Showing 1 changed file with 15 additions and 3 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -877,14 +877,15 @@ controller_interface::return_type ControllerManager::switch_controller(
     strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
   }
 
-  RCLCPP_DEBUG(get_logger(), "Switching controllers:");
+  RCLCPP_DEBUG(get_logger(), "Activating controllers:");
   for (const auto & controller : activate_controllers)
   {
-    RCLCPP_DEBUG(get_logger(), "- Activating controller '%s'", controller.c_str());
+    RCLCPP_DEBUG(get_logger(), " - %s", controller.c_str());
   }
+  RCLCPP_DEBUG(get_logger(), "Deactivating controllers:");
   for (const auto & controller : deactivate_controllers)
   {
-    RCLCPP_DEBUG(get_logger(), "- Deactivating controller '%s'", controller.c_str());
+    RCLCPP_DEBUG(get_logger(), " - %s", controller.c_str());
   }
 
   const auto list_controllers = [this, strictness](
@@ -1222,6 +1223,17 @@ controller_interface::return_type ControllerManager::switch_controller(
     return controller_interface::return_type::OK;
   }
 
+  RCLCPP_DEBUG(get_logger(), "Request for command interfaces from activating controllers:");
+  for (const auto & interface : activate_command_interface_request_)
+  {
+    RCLCPP_DEBUG(get_logger(), " - %s", interface.c_str());
+  }
+  RCLCPP_DEBUG(get_logger(), "Release of command interfaces from deactivating controllers:");
+  for (const auto & interface : deactivate_command_interface_request_)
+  {
+    RCLCPP_DEBUG(get_logger(), " - %s", interface.c_str());
+  }
+
   if (
     !activate_command_interface_request_.empty() || !deactivate_command_interface_request_.empty())
   {