Skip to content

fix(joint_state_broadcaster): suppress confusing warning for standard interfaces #2276

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
greencookie-afk wants to merge 2 commits into
base: master
Choose a base branch
from
+10 −5
Open

fix(joint_state_broadcaster): suppress confusing warning for standard interfaces #2276

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
5cadcf5
fix(joint_state_broadcaster): suppress confusing warning for standard…
Apr 1, 2026
9bd59e1
Merge branch 'master' into fix/confusing-warning-joint-state-broadcaster
greencookie-afk Apr 3, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 10 additions & 5 deletions joint_state_broadcaster/src/joint_state_broadcaster.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -124,11 +124,16 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure(
params_.interfaces.end())
{
map_interface_to_joint_state_[interface] = interface;
RCLCPP_WARN(
get_node()->get_logger(),
"Mapping from '%s' to interface '%s' will not be done, because '%s' is defined "
"in 'interface' parameter.",
interface_to_map.c_str(), interface.c_str(), interface.c_str());
// Only warn if there's a custom mapping being ignored (interface != interface_to_map)
// When they're equal (e.g., both "velocity"), it's the standard case and no warning is needed
if (interface != interface_to_map)
{
RCLCPP_WARN(
get_node()->get_logger(),
"Mapping from '%s' to interface '%s' will not be done, because '%s' is defined "
"in 'interface' parameter.",
interface_to_map.c_str(), interface.c_str(), interface.c_str());
}
}
else
{
Expand Down