Ros2 motor enable fix #478
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WalkthroughThe pull request focuses on improving logging and error reporting across multiple components of the Husarion UGV hardware interfaces. The changes are primarily centered on enhancing the readability and structure of error log messages in the Changes
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🚧 Files skipped from review as they are similar to previous changes (1)
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Actionable comments posted: 0
🧹 Nitpick comments (2)
husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp (1)
128-141: LGTM! Clear improvement in error logging.The separation of front and rear driver error messages significantly improves log readability and error diagnosis. The addition of newlines and clear prefixes makes it easier to identify which driver is in error state.
Consider adding a timestamp to each error message to help with temporal correlation of errors:
- "Front driver in error state:\n" + "Front driver in error state at " << std::put_time(std::localtime(&now), "%Y-%m-%d %H:%M:%S") << ":\n"husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp (1)
254-272: LGTM! Well-structured error logging implementation.The conditional checks for empty error logs and the addition of clear category labels significantly improve the readability and usefulness of the error output. The consistent use of newlines makes the log format more structured and easier to parse.
Consider using a string builder pattern for better performance and maintainability:
- std::string error_log; + std::ostringstream error_log; if (!fault_flags_.GetErrorLog().empty()) { - error_log += "Fault Flags: " + fault_flags_.GetErrorLog() + "\n"; + error_log << "Fault Flags: " << fault_flags_.GetErrorLog() << "\n"; } // ... similar changes for other flags ... - return error_log; + return error_log.str();
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📒 Files selected for processing (3)
husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp(1 hunks)husarion_ugv_hardware_interfaces/src/robot_system/panther_system.cpp(1 hunks)husarion_ugv_hardware_interfaces/src/robot_system/robot_driver/roboteq_data_converters.cpp(1 hunks)
✅ Files skipped from review due to trivial changes (1)
- husarion_ugv_hardware_interfaces/src/robot_system/lynx_system.cpp
Description
motor_power:Before:
Now:
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