From 273c530d0f7a915557d857a7e36a35386e2c9218 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Thu, 31 Mar 2022 11:02:37 +0200
Subject: [PATCH] Work on ROS2
---
lrs_exec/executors/wait.py | 9 ++++-----
1 file changed, 4 insertions(+), 5 deletions(-)
diff --git a/lrs_exec/executors/wait.py b/lrs_exec/executors/wait.py
index 5e11bf1..05b2851 100644
--- a/lrs_exec/executors/wait.py
+++ b/lrs_exec/executors/wait.py
@@ -11,7 +11,7 @@ class WaitExecutor(Executor):
def start(self):
try:
- self.lprint("WaitExecutor start")
+ self.node.get_logger().info("WaitExecutor start")
# self.params.print()
index = 0
paused = False
@@ -23,7 +23,7 @@ class WaitExecutor(Executor):
while not finished_flag and 0.1*index < duration:
if self.have_signal():
signal = self.pop_signal()
- self.lprint("WaitExecutor got signal:", signal)
+ self.node.get_logger().info(f'WaitExecutor got signal: {signal}')
if signal == "$enough":
finished_flag = True
if signal == "$abort":
@@ -37,10 +37,9 @@ class WaitExecutor(Executor):
index += 1
time.sleep(0.1)
except Exception as exc:
- print(type(exc))
- print(exc)
+ self.node.get_logger().error(f'EXCEPTION start: {type(exc)} - {exc}')
self.fail(f'Exception: {exc}')
- self.lprint("WaitExecutor end")
+ self.node.get_logger().info("WaitExecutor end")
class WaitExecutorFactory(ExecutorFactory):
def __init__(self):
--
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