Using THROTTLE macros

moveit · Jan 15, 2020 · 1ff5ead · 1ff5ead
1 parent 982ece5
commit 1ff5ead
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Showing 3 changed files with 8 additions and 7 deletions.
diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_monitor.cpp
@@ -41,8 +41,6 @@
 #include <moveit/occupancy_map_monitor/occupancy_map_monitor.h>
 // #include <XmlRpcException.h>
 #include <boost/bind.hpp>
-#include <rcutils/logging_macros.h>
-#include <rcutils/time.h>
 
 namespace occupancy_map_monitor
 {
@@ -288,7 +286,8 @@ bool OccupancyMapMonitor::getShapeTransformCache(std::size_t index, const std::s
         std::map<ShapeHandle, ShapeHandle>::const_iterator jt = mesh_handles_[index].find(it.first);
         if (jt == mesh_handles_[index].end())
         {
-          RCUTILS_LOG_ERROR_THROTTLE(rcutils_steady_time_now, 1, "Incorrect mapping of mesh handles");
+          rclcpp::Clock steady_clock(RCL_STEADY_TIME);
+          RCLCPP_ERROR_THROTTLE(LOGGER, steady_clock, 1000, "Incorrect mapping of mesh handles");
           return false;
         }
         else

diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
@@ -52,14 +52,15 @@ static void publishOctomap(rclcpp::Publisher<octomap_msgs::msg::Octomap>::Shared
   map.header.stamp = rclcpp::Clock().now();
 
   server->getOcTreePtr()->lockRead();
+  rclcpp::Clock steady_clock(RCL_STEADY_TIME);
   try
   {
     if (!octomap_msgs::binaryMapToMsgData(*server->getOcTreePtr(), map.data))
-      RCUTILS_LOG_ERROR_THROTTLE(rcutils_steady_time_now, 1, "Could not generate OctoMap message");
+      RCLCPP_ERROR_THROTTLE(LOGGER, steady_clock, 1000, "Could not generate OctoMap message");
   }
   catch (...)
   {
-    RCUTILS_LOG_ERROR_THROTTLE(rcutils_steady_time_now, 1, "Exception thrown while generating OctoMap message");
+    RCLCPP_ERROR_THROTTLE(LOGGER, steady_clock, 1000, "Exception thrown while generating OctoMap message");
   }
   server->getOcTreePtr()->unlockRead();
 

diff --git a/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp b/moveit_ros/occupancy_map_monitor/src/occupancy_map_updater.cpp
@@ -80,8 +80,9 @@ bool OccupancyMapUpdater::updateTransformCache(const std::string& target_frame,
     return transform_provider_callback_(target_frame, target_time, transform_cache_);
   else
   {
-    RCUTILS_LOG_ERROR_THROTTLE(rcutils_steady_time_now, 1,
-                               "No callback provided for updating the transform cache for octomap updaters");
+    rclcpp::Clock steady_clock(RCL_STEADY_TIME);
+    RCLCPP_WARN_THROTTLE(LOGGER, steady_clock, 1000,
+                         "No callback provided for updating the transform cache for octomap updaters");
     return false;
   }
 }