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correct error message #3631

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merged 4 commits into from
Jun 19, 2023
Merged

correct error message #3631

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d1d7603
correct error message
jwallace42 Jun 16, 2023
e88b8dd
clean up
jwallace42 Jun 17, 2023
369f5fb
cleanup
jwallace42 Jun 17, 2023
70e3515
remove header
jwallace42 Jun 18, 2023
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24 changes: 15 additions & 9 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,16 +67,22 @@ BtActionServer<ActionT>::BtActionServer(
};

if (!node->has_parameter("error_code_names")) {
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std::string error_codes_str;
for (const auto & error_code : error_code_names) {
error_codes_str += error_code + "\n";
const rclcpp::ParameterValue value = node->declare_parameter(
"error_code_names",
rclcpp::PARAMETER_STRING_ARRAY);
if (value.get_type() == rclcpp::PARAMETER_NOT_SET) {
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std::string error_codes_str;
for (const auto & error_code : error_code_names) {
error_codes_str += "\n" + error_code;
}
RCLCPP_WARN_STREAM(
logger_, "Error_code parameters were not set. Using default values of: "
<< error_codes_str + "\n"
<< "Make sure these match your BT and there are not other sources of error codes you"
"reported to your application");
rclcpp::Parameter error_code_names_param("error_code_names", error_code_names);
node->set_parameter(error_code_names_param);
}
RCLCPP_WARN_STREAM(
logger_, "Error_code parameters were not set. Using default values of: "
<< error_codes_str
<< "Make sure these match your BT and there are not other sources of error codes you want "
"reported to your application");
node->declare_parameter("error_code_names", error_code_names);
}
}

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