Add error output and update includes

ros-controls · Jul 26, 2024 · d4afd58 · d4afd58
1 parent c1dba05
commit d4afd58
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Showing 4 changed files with 9 additions and 5 deletions.
diff --git a/example_14/hardware/include/ros2_control_demo_example_14/rrbot_actuator_without_feedback.hpp b/example_14/hardware/include/ros2_control_demo_example_14/rrbot_actuator_without_feedback.hpp
@@ -20,7 +20,6 @@
 #define ROS2_CONTROL_DEMO_EXAMPLE_14__RRBOT_ACTUATOR_WITHOUT_FEEDBACK_HPP_
 
 #include <netinet/in.h>
-#include <sys/socket.h>
 #include <memory>
 #include <string>
 #include <vector>

diff --git a/...e_14/hardware/include/ros2_control_demo_example_14/rrbot_sensor_for_position_feedback.hpp b/...e_14/hardware/include/ros2_control_demo_example_14/rrbot_sensor_for_position_feedback.hpp
@@ -20,7 +20,6 @@
 #define ROS2_CONTROL_DEMO_EXAMPLE_14__RRBOT_SENSOR_FOR_POSITION_FEEDBACK_HPP_
 
 #include <netinet/in.h>
-#include <sys/socket.h>
 #include <memory>
 #include <string>
 #include <thread>

diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -19,8 +19,10 @@
 #include "ros2_control_demo_example_14/rrbot_actuator_without_feedback.hpp"
 
 #include <netdb.h>
+#include <sys/socket.h>
 #include <chrono>
 #include <cmath>
+#include <cstring>
 #include <limits>
 #include <memory>
 #include <vector>
@@ -94,7 +96,8 @@ hardware_interface::CallbackReturn RRBotActuatorWithoutFeedback::on_init(
   if (connect(sock_, (struct sockaddr *)&address_, sizeof(address_)) < 0)
   {
     RCLCPP_FATAL(
-      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Connection over socket failed.");
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Connection over socket failed: %s",
+      strerror(errno));  // Print the error message
     return hardware_interface::CallbackReturn::ERROR;
   }
   RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Connected to socket");

diff --git a/example_14/hardware/rrbot_sensor_for_position_feedback.cpp b/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
@@ -18,10 +18,11 @@
 
 #include "ros2_control_demo_example_14/rrbot_sensor_for_position_feedback.hpp"
 
-#include <netinet/in.h>
+#include <netdb.h>
 #include <sys/socket.h>
 #include <chrono>
 #include <cmath>
+#include <cstring>
 #include <limits>
 #include <memory>
 #include <thread>
@@ -101,7 +102,9 @@ hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_init(
   RCLCPP_INFO(rclcpp::get_logger("RRBotSensorPositionFeedback"), "Binding to socket address.");
   if (bind(obj_socket_, reinterpret_cast<struct sockaddr *>(&address_), sizeof(address_)) < 0)
   {
-    RCLCPP_FATAL(rclcpp::get_logger("RRBotSensorPositionFeedback"), "Binding to socket failed.");
+    RCLCPP_FATAL(
+      rclcpp::get_logger("RRBotSensorPositionFeedback"), "Binding to socket failed: %s",
+      strerror(errno));  // Print the error message
     return hardware_interface::CallbackReturn::ERROR;
   }