Add output if hardware component system is not initialized.

ros-controls · Jul 18, 2023 · a6f73c8 · a6f73c8
1 parent 7d1baef
commit a6f73c8
Showing 1 changed file with 23 additions and 0 deletions.
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -519,6 +519,13 @@ class ResourceStorage
         import_state_interfaces(container.back());
         import_command_interfaces(container.back());
       }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "Actuator hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -541,6 +548,13 @@ class ResourceStorage
       {
         import_state_interfaces(container.back());
       }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "Sensor hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -564,6 +578,13 @@ class ResourceStorage
         import_state_interfaces(container.back());
         import_command_interfaces(container.back());
       }
+      else
+      {
+        RCUTILS_LOG_WARN_NAMED(
+          "resource_manager",
+          "System hardware component '%s' from plugin '%s' failed to initialize.",
+          hardware_info.name.c_str(), hardware_info.hardware_plugin_name.c_str());
+      }
     };
 
     if (hardware_info.is_async)
@@ -616,6 +637,7 @@ class ResourceStorage
       {
         import_state_interfaces(container.back());
       }
+      else
       {
         RCUTILS_LOG_WARN_NAMED(
           "resource_manager",
@@ -645,6 +667,7 @@ class ResourceStorage
         import_state_interfaces(container.back());
         import_command_interfaces(container.back());
       }
+      else
       {
         RCUTILS_LOG_WARN_NAMED(
           "resource_manager",