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Co-authored-by: Robert Haschke <[email protected]>
sjahr · Aug 26, 2024 · 4b173e7 · 4b173e7
1 parent 28a4975
commit 4b173e7
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Showing 3 changed files with 6 additions and 9 deletions.
diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/contact_checker_common.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/contact_checker_common.cpp
@@ -116,7 +116,7 @@ collision_detection::Contact* processResult(ContactTestData& cdata, collision_de
 
     return &(dr.back());
   }
-  RCLCPP_ERROR(getLogger(), "Result cannot be processed. Returning nullptr, this should never happen!");
+  RCLCPP_DEBUG(getLogger(), "Result cannot be processed. Returning nullptr, this should never happen!");
   return nullptr;
 }
 

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
@@ -1368,7 +1368,7 @@ const LinkModel* RobotModel::getRigidlyConnectedParentLinkModel(const LinkModel*
 {
   if (!link)
   {
-    RCLCPP_ERROR(getLogger(), "Cannot determine rigidly connected parent link because input link is nullptr");
+    RCLCPP_DEBUG(getLogger().get_child("getRigidlyConnectedParentLink", "Link is NULL");
     return link;
   }
   const moveit::core::LinkModel* parent_link = link->getParentLinkModel();

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -926,18 +926,15 @@ const LinkModel* RobotState::getRigidlyConnectedParentLinkModel(const std::strin
     std::string object{ frame.substr(0, idx) };
     if (!hasAttachedBody(object))
     {
-      RCLCPP_DEBUG(getLogger(),
-                   "Cannot find rigidly connected parent link for frame '%s' because there is no attached body.",
-                   frame.c_str());
+      RCLCPP_DEBUG(getLogger().get_child("getRigidlyConnectedParentLink",
+                   "Attached object '%s' for frame '%s' does not exist.", object.c_str(), frame.c_str());
       return nullptr;
     }
     auto body{ getAttachedBody(object) };
     if (!body->hasSubframeTransform(frame))
     {
-      RCLCPP_DEBUG(getLogger(),
-                   "Cannot find rigidly connected parent link for frame '%s' because the transformation to the parent "
-                   "link is unknown.",
-                   frame.c_str());
+      RCLCPP_DEBUG(getLogger().get_child("getRigidlyConnectedParentLink",
+                   "Body '%s' does not have subframe '%s', object.c_str(), frame.c_str());
       return nullptr;
     }
     link = body->getAttachedLink();