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ros-controls · Apr 4, 2023 · 09329fb · 09329fb
1 parent c0de993
commit 09329fb
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Showing 3 changed files with 9 additions and 10 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -157,7 +157,7 @@ ControllerManager::ControllerManager(
     // set QoS to transient local to get messages that have already been published
     // (if robot state publisher starts before controller manager)
     RCLCPP_INFO(
-      get_logger(), "Subscribing to ~/robot_description topic for robot description file.");
+      get_logger(), "Subscribing to '~/robot_description' topic for robot description file.");
     robot_description_subscription_ = create_subscription<std_msgs::msg::String>(
       namespace_ + "/robot_description", rclcpp::QoS(1).transient_local(),
       std::bind(&ControllerManager::robot_description_callback, this, std::placeholders::_1));
@@ -174,7 +174,6 @@ ControllerManager::ControllerManager(
   diagnostics_updater_.setHardwareID("ros2_control");
   diagnostics_updater_.add(
     "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
-
   init_services();
 }
 
@@ -207,7 +206,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
   RCLCPP_INFO(get_logger(), "Received robot description file.");
   RCLCPP_DEBUG(
     get_logger(), "'Content of robot description file: %s", robot_description.data.c_str());
-  // TODO(Manuel) errors should probably be caught since we don't want controller_manager node
+  // TODO(Manuel): errors should probably be caught since we don't want controller_manager node
   // to die if a non valid urdf is passed. However, should maybe be fine tuned.
   try
   {
@@ -225,8 +224,8 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
   {
     RCLCPP_ERROR_STREAM(
       get_logger(),
-      "The published robot description file (urdf) seems not to be genuine. Following error was "
-      "caught:"
+      "The published robot description file (urdf) seems not to be genuine. The following error "
+      "was caught:"
         << e.what());
   }
 }

diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -87,10 +87,10 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
   /**
    * @brief if the resource manager load_urdf(...) function has been called this returns true.
    * We want to permit to load the urdf later on but we currently don't want to permit multiple
-   * calls to load_urdf (reloading/loading different urdf)
+   * calls to load_urdf (reloading/loading different urdf).
    *
-   * @return true if resource manager's load_urdf() has been called
-   * @return false if resource manager's load_urdf() has not been called
+   * @return true if resource manager's load_urdf() has been already called.
+   * @return false if resource manager's load_urdf() has not been yet called.
    */
   bool load_urdf_called() const;
 

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -574,8 +574,8 @@ ResourceManager::ResourceManager() : resource_storage_(std::make_unique<Resource
 ResourceManager::~ResourceManager() = default;
 
 ResourceManager::ResourceManager(
-  const std::string & urdf, bool validate_interfaces, bool activate_all, bool load_urdf_called)
-: resource_storage_(std::make_unique<ResourceStorage>()), load_urdf_called_(load_urdf_called)
+  const std::string & urdf, bool validate_interfaces, bool activate_all)
+: resource_storage_(std::make_unique<ResourceStorage>())
 {
   load_urdf(urdf, validate_interfaces);