From 28a4975bdc45f4a9b99f17b25264e4ca7f1007e9 Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Mon, 26 Aug 2024 10:56:03 +0200
Subject: [PATCH] Reduce log level to debug

---
 moveit_core/robot_model/src/robot_model.cpp |  5 ++++-
 moveit_core/robot_state/src/robot_state.cpp | 12 ++++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
index 22adc54a3c..4c7651cf87 100644
--- a/moveit_core/robot_model/src/robot_model.cpp
+++ b/moveit_core/robot_model/src/robot_model.cpp
@@ -1357,7 +1357,10 @@ LinkModel* RobotModel::getLinkModel(const std::string& name, bool* has_link)
   {
     *has_link = false;  // Report failure via argument
   }
-  RCLCPP_ERROR(getLogger(), "Link '%s' not found in model '%s'", name.c_str(), model_name_.c_str());
+  else
+  {  // Otherwise print error
+    RCLCPP_ERROR(getLogger(), "Link '%s' not found in model '%s'", name.c_str(), model_name_.c_str());
+  }
   return nullptr;
 }
 
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 626385bc5b..7d0fdb7ace 100644
--- a/moveit_core/robot_state/src/robot_state.cpp
+++ b/moveit_core/robot_state/src/robot_state.cpp
@@ -519,7 +519,7 @@ const double* RobotState::getJointPositions(const JointModel* joint) const
 {
   if (joint->getVariableCount() == 0)
   {
-    RCLCPP_ERROR(getLogger(), "Cannot get joint positions for joint '%s' because it has no variables",
+    RCLCPP_DEBUG(getLogger(), "Cannot get joint positions for joint '%s' because it has no variables",
                  joint->getName().c_str());
     return nullptr;
   }
@@ -530,7 +530,7 @@ const double* RobotState::getJointVelocities(const JointModel* joint) const
 {
   if (joint->getVariableCount() == 0)
   {
-    RCLCPP_ERROR(getLogger(), "Cannot get joint velocities for joint '%s' because it has no variables",
+    RCLCPP_DEBUG(getLogger(), "Cannot get joint velocities for joint '%s' because it has no variables",
                  joint->getName().c_str());
     return nullptr;
   }
@@ -541,7 +541,7 @@ const double* RobotState::getJointAccelerations(const JointModel* joint) const
 {
   if (joint->getVariableCount() == 0)
   {
-    RCLCPP_ERROR(getLogger(), "Cannot get joint accelerations for joint '%s' because it has no variables",
+    RCLCPP_DEBUG(getLogger(), "Cannot get joint accelerations for joint '%s' because it has no variables",
                  joint->getName().c_str());
     return nullptr;
   }
@@ -552,7 +552,7 @@ const double* RobotState::getJointEffort(const JointModel* joint) const
 {
   if (joint->getVariableCount() == 0)
   {
-    RCLCPP_ERROR(getLogger(), "Cannot get joint effort for joint '%s' because it has no variables",
+    RCLCPP_DEBUG(getLogger(), "Cannot get joint effort for joint '%s' because it has no variables",
                  joint->getName().c_str());
     return nullptr;
   }
@@ -926,7 +926,7 @@ const LinkModel* RobotState::getRigidlyConnectedParentLinkModel(const std::strin
     std::string object{ frame.substr(0, idx) };
     if (!hasAttachedBody(object))
     {
-      RCLCPP_ERROR(getLogger(),
+      RCLCPP_DEBUG(getLogger(),
                    "Cannot find rigidly connected parent link for frame '%s' because there is no attached body.",
                    frame.c_str());
       return nullptr;
@@ -934,7 +934,7 @@ const LinkModel* RobotState::getRigidlyConnectedParentLinkModel(const std::strin
     auto body{ getAttachedBody(object) };
     if (!body->hasSubframeTransform(frame))
     {
-      RCLCPP_ERROR(getLogger(),
+      RCLCPP_DEBUG(getLogger(),
                    "Cannot find rigidly connected parent link for frame '%s' because the transformation to the parent "
                    "link is unknown.",
                    frame.c_str());