From f29784e750d0d7c28a349f03c7ad94cf3d5018b1 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 6 Dec 2024 12:07:15 +0100 Subject: [PATCH] Improve error message Indicate source of error as CartesianPath. --- core/src/solvers/cartesian_path.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp index e2aadf665..c87bbef17 100644 --- a/core/src/solvers/cartesian_path.cpp +++ b/core/src/solvers/cartesian_path.cpp @@ -81,7 +81,7 @@ PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningScene Eigen::Isometry3d ik_pose_world; if (!utils::getRobotTipForFrame(props.property("ik_frame"), *from, jmg, error_msg, link, ik_pose_world)) - return { false, error_msg }; + return { false, "CartesianPath: " + error_msg }; Eigen::Isometry3d offset = from->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world; @@ -127,7 +127,7 @@ PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningScene props.get("max_acceleration_scaling_factor")); if (achieved_fraction < props.get("min_fraction")) { - return { false, "min_fraction not met. Achieved: " + std::to_string(achieved_fraction) }; + return { false, "CartesianPath: min_fraction not met. Achieved: " + std::to_string(achieved_fraction) }; } return { true, "achieved fraction: " + std::to_string(achieved_fraction) }; }