apply suggestions from review

ros-controls · Feb 21, 2023 · cc5082e · cc5082e
1 parent 62caac9
commit cc5082e
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 9 deletions.
diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -40,8 +40,6 @@
 #include "controller_manager_msgs/srv/switch_controller.hpp"
 #include "controller_manager_msgs/srv/unload_controller.hpp"
 
-#include "std_msgs/msg/string.hpp"
-
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/resource_manager.hpp"
@@ -54,6 +52,7 @@
 #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
 
 namespace controller_manager
 {
@@ -305,7 +304,7 @@ class ControllerManager : public rclcpp::Node
     std::shared_ptr<controller_manager_msgs::srv::SetHardwareComponentState::Response> response);
 
   CONTROLLER_MANAGER_PUBLIC
-  void init_resource_manager_cb(const std_msgs::msg::String & msg);
+  void robot_description_callback(const std_msgs::msg::String & msg);
 
   // Per controller update rate support
   unsigned int update_loop_counter_ = 0;

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -156,10 +156,11 @@ ControllerManager::ControllerManager(
   {
     // set QoS to transient local to get messages that have already been published
     // (if robot state publisher starts before controller manager)
-    RCLCPP_INFO(get_logger(), "Subscribing to robot_state_publisher for robot description file.");
+    RCLCPP_INFO(
+      get_logger(), "Subscribing to ~/robot_description topic for robot description file.");
     robot_description_subscription_ = create_subscription<std_msgs::msg::String>(
-      "/robot_description", rclcpp::QoS(1).transient_local(),
-      std::bind(&ControllerManager::init_resource_manager_cb, this, std::placeholders::_1));
+      namespace_ + "/robot_description", rclcpp::QoS(1).transient_local(),
+      std::bind(&ControllerManager::robot_description_callback, this, std::placeholders::_1));
   }
   else
   {
@@ -201,10 +202,11 @@ ControllerManager::ControllerManager(
   init_services();
 }
 
-void ControllerManager::init_resource_manager_cb(const std_msgs::msg::String & robot_description)
+void ControllerManager::robot_description_callback(const std_msgs::msg::String & robot_description)
 {
-  RCLCPP_ERROR(
-    get_logger(), "'init_resource_manager_cb called with %s", robot_description.data.c_str());
+  RCLCPP_INFO(get_logger(), "Received robot description file.");
+  RCLCPP_DEBUG(
+    get_logger(), "'Content of robot description file: %s", robot_description.data.c_str());
   // TODO(Manuel) errors should probably be caught since we don't want controller_manager node
   // to die if a non valid urdf is passed. However, should maybe be fine tuned.
   try