Add delayed info throttle

Olav de Haas · Olav de Haas · commit 38e20865915b · 2019-10-31T16:26:09.000+01:00
diff --git a/march_hardware/src/IMotionCube.cpp b/march_hardware/src/IMotionCube.cpp
@@ -465,7 +465,7 @@ bool IMotionCube::goToTargetState(IMotionCubeTargetState targetState)
   while (!targetState.isReached(this->getStatusWord()))
   {
     this->setControlWord(targetState.getControlWord());
-    ROS_DEBUG_THROTTLE(0.5, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),
+    ROS_INFO_DELAYED_THROTTLE(2, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),
                       std::bitset<16>(this->getStatusWord()).to_string().c_str());
     if (targetState.getState() == IMotionCubeTargetState::OPERATION_ENABLED.getState() &&
         this->getState(this->getStatusWord()) == IMCState::fault)

Original file line number	Diff line number	Diff line change
`@@ -465,7 +465,7 @@ bool IMotionCube::goToTargetState(IMotionCubeTargetState targetState)`
`465`	`465`	`while (!targetState.isReached(this->getStatusWord()))`
`466`	`466`	`{`
`467`	`467`	`this->setControlWord(targetState.getControlWord());`
`468`		`- ROS_DEBUG_THROTTLE(0.5, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),`
	`468`	`+ ROS_INFO_DELAYED_THROTTLE(2, "\tWaiting for '%s': %s", targetState.getDescription().c_str(),`
`469`	`469`	`std::bitset<16>(this->getStatusWord()).to_string().c_str());`
`470`	`470`	`if (targetState.getState() == IMotionCubeTargetState::OPERATION_ENABLED.getState() &&`
`471`	`471`	`this->getState(this->getStatusWord()) == IMCState::fault)`