Clearer logging as suggested by code review

Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>

README.md

@@ -421,8 +421,8 @@ ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 1, b: 2}"
 If all is well, the output should contain `example_interfaces.srv.AddTwoInts_Response(sum=3)`
 
 ### Parametrizing Quality of Service
-An advantage or ROS 2 over ROS 1 is the possibility to define different Quality of Service settings per topic.
-The parameter bridge optionally allows for this as well: 
+An advantage of ROS 2 over ROS 1 is the possibility to define different Quality of Service settings per topic.
+The parameter bridge optionally allows for this as well.
 For some topics, like `/tf_static` this is actually required, as this is a latching topic in ROS 1.
 In ROS 2 with the `parameter_bridge`, this requires that topic to be configured as such:
 

src/parameter_bridge.cpp

@@ -108,12 +108,12 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
       } catch (std::runtime_error & e) {
         fprintf(
           stderr,
-          "failed to create parametrize deadline: '%s'\n",
+          "failed to parse deadline: '%s'\n",
           e.what());
       } catch (XmlRpc::XmlRpcException & e) {
         fprintf(
           stderr,
-          "failed to create parametrize deadline: '%s'\n",
+          "failed to parse deadline: '%s'\n",
           e.getMessage().c_str());
       }
     }
@@ -128,32 +128,31 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
       } catch (std::runtime_error & e) {
         fprintf(
           stderr,
-          "failed to create parametrize lifespan: '%s'\n",
+          "failed to parse lifespan: '%s'\n",
           e.what());
       } catch (XmlRpc::XmlRpcException & e) {
         fprintf(
           stderr,
-          "failed to create parametrize lifespan: '%s'\n",
+          "failed to parse lifespan: '%s'\n",
           e.getMessage().c_str());
       }
     }
 
     if (qos_params.hasMember("liveliness")) {
       if (qos_params["liveliness"].getType() == XmlRpc::XmlRpcValue::TypeInt) {
-        printf("liviness is an int\n");
         try {
           auto liveliness = static_cast<int>(qos_params["liveliness"]);
           ros2_publisher_qos.liveliness(static_cast<rmw_qos_liveliness_policy_t>(liveliness));
           printf("liveliness: %i, ", static_cast<int>(liveliness));
         } catch (std::runtime_error & e) {
           fprintf(
             stderr,
-            "failed to create parametrize liveliness: '%s'\n",
+            "failed to parse liveliness: '%s'\n",
             e.what());
         } catch (XmlRpc::XmlRpcException & e) {
           fprintf(
             stderr,
-            "failed to create parametrize liveliness: '%s'\n",
+            "failed to parse liveliness: '%s'\n",
             e.getMessage().c_str());
         }
       } else if (qos_params["liveliness"].getType() == XmlRpc::XmlRpcValue::TypeString) {
@@ -186,18 +185,18 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
         } catch (std::runtime_error & e) {
           fprintf(
             stderr,
-            "failed to create parametrize liveliness: '%s'\n",
+            "failed to parse liveliness: '%s'\n",
             e.what());
         } catch (XmlRpc::XmlRpcException & e) {
           fprintf(
             stderr,
-            "failed to create parametrize liveliness: '%s'\n",
+            "failed to parse liveliness: '%s'\n",
             e.getMessage().c_str());
         }
       } else {
         fprintf(
           stderr,
-          "failed to create parametrize liveliness, parameter was not a string or int \n");
+          "failed to parse liveliness, parameter was not a string or int \n");
       }
     }
 
@@ -211,12 +210,12 @@ rclcpp::QoS qos_from_params(XmlRpc::XmlRpcValue qos_params)
       } catch (std::runtime_error & e) {
         fprintf(
           stderr,
-          "failed to create parametrize liveliness_lease_duration: '%s'\n",
+          "failed to parse liveliness_lease_duration: '%s'\n",
           e.what());
       } catch (XmlRpc::XmlRpcException & e) {
         fprintf(
           stderr,
-          "failed to create parametrize liveliness_lease_duration: '%s'\n",
+          "failed to parse liveliness_lease_duration: '%s'\n",
           e.getMessage().c_str());
       }
     }