Move demo output

ros-controls · Nov 24, 2024 · 518381a · 518381a
1 parent 19aade1
commit 518381a
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -73,8 +73,6 @@ hardware_interface::CallbackReturn RRBotActuatorWithoutFeedback::on_init(
   }
 
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(get_logger(), "Configuring ...please wait...");
-
   // Initialize objects for fake mechanical connection
   sock_ = socket(AF_INET, SOCK_STREAM, 0);
   if (sock_ < 0)
@@ -135,6 +133,8 @@ hardware_interface::CallbackReturn RRBotActuatorWithoutFeedback::on_init(
 hardware_interface::CallbackReturn RRBotActuatorWithoutFeedback::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
+  RCLCPP_INFO(get_logger(), "Configuring ...please wait...");
+
   // reset values always when configuring hardware
   for (const auto & [name, descr] : joint_command_interfaces_)
   {

diff --git a/example_14/hardware/rrbot_sensor_for_position_feedback.cpp b/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
@@ -170,6 +170,8 @@ hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_init(
 hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
+  RCLCPP_INFO(get_logger(), "Configuring ...please wait...");
+
   // set some default values for joints
   // reset values always when configuring hardware
   for (const auto & [name, descr] : sensor_state_interfaces_)