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port to galactic #2

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port to galactic #2

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6 changes: 3 additions & 3 deletions include/behavior_tree/BtAction.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ class BtAction : public BT::ActionNodeBase
rclcpp::spin_some(_node);
if (_goal_done) {
if (_result.code == rclcpp_action::ResultCode::CANCELED) {
RCLCPP_INFO(_node->get_logger(), "Goal canceled successfully");
RCLCPP_INFO(_node->get_logger(), "%s", "Goal canceled successfully");
}
return;
}
Expand All @@ -69,7 +69,7 @@ class BtAction : public BT::ActionNodeBase

/// Make sure the action server is available
if (!_action_client->wait_for_action_server(_server_timeout)) {
RCLCPP_ERROR(_node->get_logger(), "Action server not available after waiting");
RCLCPP_ERROR(_node->get_logger(), "%s", "Action server not available after waiting");
return BT::NodeStatus::FAILURE;
}

Expand All @@ -80,7 +80,7 @@ class BtAction : public BT::ActionNodeBase
&BtAction<ActionT>::feedback_callback, this, _1, _2);

send_goal_options.result_callback = std::bind(&BtAction<ActionT>::result_callback, this, _1);
RCLCPP_INFO(_node->get_logger(), "Sending goal to " + _server_name);
RCLCPP_INFO(_node->get_logger(), "%s %s", "Sending goal to ", _server_name.c_str());

auto goal_handle_future = _action_client->async_send_goal(goal, send_goal_options);
if (rclcpp::spin_until_future_complete(_node, goal_handle_future, _server_timeout) !=
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2 changes: 1 addition & 1 deletion plugins/action/fibonacci_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ class Fibonacci : public BtService<FibonacciService>

BT::NodeStatus handle_response(FibonacciService::Response::SharedPtr response) override
{
RCLCPP_INFO(_node->get_logger(), "Service call complete: " + response->message);
RCLCPP_INFO(_node->get_logger(), "%s %s", "Service call complete: ", response->message.c_str());
return BT::NodeStatus::SUCCESS;
}
};
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4 changes: 2 additions & 2 deletions src/BtEngine.cpp
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Expand Up @@ -34,7 +34,7 @@ void BtEngine::load_tree()
auto blackboard = Blackboard::create();
blackboard->set<rclcpp::Node::SharedPtr>("node", std::make_shared<rclcpp::Node>("bt_node"));
// blackboard->set<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer", tf_);
RCLCPP_INFO(this->get_logger(), "Loading tree from file: " + bt_file_path_);
RCLCPP_INFO(this->get_logger(), "%s %s", "Loading tree from file: ", bt_file_path_.c_str());
tree_ = std::make_shared<Tree>(factory_.createTreeFromFile(bt_file_path_, blackboard));
}

Expand Down Expand Up @@ -62,7 +62,7 @@ void BtEngine::add_groot_monitoring()
void BtEngine::load_plugins()
{
for (const auto & p : plugins_) {
RCLCPP_INFO(this->get_logger(), "Loading plugin: " + SharedLibrary::getOSName(p));
RCLCPP_INFO(this->get_logger(), "%s %s", "Loading plugin: @", SharedLibrary::getOSName(p).c_str());
factory_.registerFromPlugin(SharedLibrary::getOSName(p));
}
}
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