From 4cbe88a883734d16a9582414bde1a53f16648f98 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Wed, 18 Dec 2024 11:51:51 +0000 Subject: [PATCH] jsk_robot_startup/src/quadruped_joystick_teleop.cpp: say something when service call failed --- .../src/quadruped_joystick_teleop.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/jsk_robot_common/jsk_robot_startup/src/quadruped_joystick_teleop.cpp b/jsk_robot_common/jsk_robot_startup/src/quadruped_joystick_teleop.cpp index d0077eec62..8b171c68e0 100644 --- a/jsk_robot_common/jsk_robot_startup/src/quadruped_joystick_teleop.cpp +++ b/jsk_robot_common/jsk_robot_startup/src/quadruped_joystick_teleop.cpp @@ -93,6 +93,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_estop_hard_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_estop_hard_.getService() << " failed. (" << srv.response.message << ")"); + this->say("estop hard failed" + srv.response.message); } pressed_[button_estop_hard_] = true; } @@ -116,6 +117,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_estop_gentle_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_estop_gentle_.getService() << " failed. (" << srv.response.message << ")"); + this->say("estop gentle failed" + srv.response.message); } pressed_[button_estop_gentle_] = true; } @@ -139,6 +141,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_power_off_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_power_off_.getService() << " failed. (" << srv.response.message << ")"); + this->say("power off failed" + srv.response.message); } pressed_[button_power_off_] = true; } @@ -162,6 +165,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_power_on_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_power_on_.getService() << " failed. (" << srv.response.message << ")"); + this->say("power on failed" + srv.response.message); } pressed_[button_power_on_] = true; } @@ -185,6 +189,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_self_right_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_self_right_.getService() << " failed. (" << srv.response.message << ")"); + this->say("self right failed" + srv.response.message); } pressed_[button_self_right_] = true; } @@ -208,6 +213,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_sit_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_sit_.getService() << " failed. (" << srv.response.message << ")"); + this->say("sit failed" + srv.response.message); } pressed_[button_sit_] = true; } @@ -231,6 +237,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_stand_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_stand_.getService() << " failed. (" << srv.response.message << ")"); + this->say("stand failed" + srv.response.message); } pressed_[button_stand_] = true; } @@ -254,6 +261,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_stop_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_stop_.getService() << " failed. (" << srv.response.message << ")"); + this->say("stop failed" + srv.response.message); } pressed_[button_stop_] = true; } @@ -277,6 +285,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_release_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_release_.getService() << " failed. (" << srv.response.message << ")"); + this->say("release failed" + srv.response.message); } pressed_[button_release_] = true; } @@ -300,6 +309,7 @@ class TeleopManager ROS_INFO_STREAM("Service " << client_claim_.getService() << " succeeded."); } else { ROS_ERROR_STREAM("Service " << client_claim_.getService() << " failed. (" << srv.response.message << ")"); + this->say("claim failed" + srv.response.message); } pressed_[button_claim_] = true; } @@ -329,6 +339,7 @@ class TeleopManager req_next_stair_mode_.data = not req_next_stair_mode_.data; } else { ROS_ERROR_STREAM("Service " << client_stair_mode_.getService() << " failed. (" << srv.response.message << ")"); + this->say("stair mode failed" + srv.response.message); } pressed_[button_stair_mode_] = true; } @@ -351,6 +362,7 @@ class TeleopManager ROS_INFO_STREAM("Service '" << client_dock_.getService() << "' succeeded."); } else { ROS_ERROR_STREAM("Service '" << client_dock_.getService() << "' failed. (" << srv.response.message << ")"); + this->say("dock failed" + srv.response.message); } pressed_axes_[axe_dock_] = true; } @@ -361,6 +373,7 @@ class TeleopManager ROS_INFO_STREAM("Service '" << client_undock_.getService() << "' succeeded."); } else { ROS_ERROR_STREAM("Service '" << client_undock_.getService() << "' failed. (" << srv.response.message << ")"); + this->say("undock failed" + srv.response.message); } pressed_axes_[axe_dock_] = true; } @@ -385,6 +398,7 @@ class TeleopManager ROS_INFO_STREAM("Service '" << client_tuck_.getService() << "' succeeded."); } else { ROS_ERROR_STREAM("Service '" << client_tuck_.getService() << "' failed. (" << srv.response.message << ")"); + this->say("tuck failed" + srv.response.message); } pressed_axes_[axe_tuck_] = true; } @@ -395,6 +409,7 @@ class TeleopManager ROS_INFO_STREAM("Service '" << client_untuck_.getService() << "' succeeded."); } else { ROS_ERROR_STREAM("Service '" << client_untuck_.getService() << "' failed. (" << srv.response.message << ")"); + this->say("untuck failed" + srv.response.message); } pressed_axes_[axe_tuck_] = true; }