message: CHANGE: Throttle singularity warnings to not clutter terminal so much
diff: @@ -171,7 +171,9 @@ std::array<double, 42> ModelKDL::bodyJacobian(
  J.changeBase(f.M.Inverse());
  // Singularity check
  - ROS_WARN_STREAM_COND(isCloseToSingularity(J), "Body Jacobian close to singularity");
  + if (isCloseToSingularity(J)) {
  + ROS_WARN_STREAM_THROTTLE(1, "Body Jacobian close to singularity");
  + }
  std::array<double, 42> result;
  Eigen::MatrixXd::Map(&result[0], 6, 7) = J.data;
  @@ -202,7 +204,9 @@ std::array<double, 42> ModelKDL::zeroJacobian(
  }
  // Singularity Check
  - ROS_WARN_STREAM_COND(isCloseToSingularity(J), "Zero Jacobian close to singularity");
  + if (isCloseToSingularity(J)) {
  + ROS_WARN_STREAM_THROTTLE(1, "Zero Jacobian close to singularity");
  + }
  std::array<double, 42> result;
  Eigen::MatrixXd::Map(&result[0], 6, 7) = J.data;
  